ICRA 2011 Paper Abstract


Paper TuA109.2

Pawashe, Chytra (Carnegie Mellon University), Diller, Eric D. (Carnegie Mellon University), Floyd, Steven (Arete Associates), Sitti, Metin (Carnegie Mellon University)

Assembly and Disassembly of Magnetic Mobile Micro-Robots towards Deterministic 2-D Reconfigurable Micro-Systems

Scheduled for presentation during the Regular Sessions "Cellular and Modular Robots I" (TuA109), Tuesday, May 10, 2011, 08:35−08:50, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Cellular and Modular Robots, Micro/Nano Robots, Parallel Robots


A primary challenge in the field of reconfigurable robotics is scaling down the size of individual robotic modules. We present a novel set of permanent magnet modules that are under 1 mm in all dimensions, called Mag-uMods, for use in a reconfigurable micro-system. The modules are actuated by oscillating external magnetic fields of several mT in strength, and are capable of locomoting on a 2-D surface. Multiple modules are controlled using an electrostatic anchoring surface, which selectively prevents specific modules from being driven by the external field, while allowing others to move freely. We model the processes of both assembling and disassembling two modules by analyzing the forces the modules experience, and experimentally verify the accuracy of the models. For disassembly, we employ electrostatic anchoring and externally applied magnetic torques to successfully separate the modules.



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