Visual servoing and characterization of resonant magnetic actuators for decoupled locomotion of multiple untethered mobile microrobots

Authors:
Bradley E. Kratochvil;Dominic Frutiger;Karl Vollmers;Bradley J. Nelson
Affiliations:
Institute of Robotics and Intelligent Systems, ETH Zurich, Switzerland;Institute of Robotics and Intelligent Systems, ETH Zurich, Switzerland;Institute of Robotics and Intelligent Systems, ETH Zurich, Switzerland;Institute of Robotics and Intelligent Systems, ETH Zurich, Switzerland
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 1
Cited 4

Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies

IEEE Transactions on Robotics

Microparticle manipulation using multiple untethered magnetic micro-robots on an electrostatic surface

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Small, Fast, and Under Control: Wireless Resonant Magnetic Micro-agents

International Journal of Robotics Research
Mobile microrobot characterization through performance-based competitions

PerMIS '09 Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems
Control methodologies for a heterogeneous group of untethered magnetic micro-robots

International Journal of Robotics Research

Quantified Score

Hi-index	0.00

Visualization

Abstract

Wireless resonant magnetic micro-actuators have been previously described as highly effective propulsion mechanisms for untethered mobile microrobots. The discussion thus far has been primarily relegated to a characterization of stationary devices and the de facto observation of their mobility. Before applications of microrobots can be more fully explored, devices are required that can operate reliably and repeatably in a host of operating environments. In this paper, we analyze the in situ performance of resonant magnetic actuators for microrobotic locomotion to better understand their durability, substrate requirements, and driving characteristics.