IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 2 - Volume 2
Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot
International Journal of Robotics Research
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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
Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Independent control of multiple magnetic microrobots in three dimensions
International Journal of Robotics Research
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In this work, we develop methods for controlling multiple untethered magnetic micro-robots (Mag-脗碌Bots) without the need for a specialized substrate. We investigate Mag-脗碌Bots that are geometrically and magnetically designed to respond uniquely to the same input magnetic fields. Designs include: (1) geometrically similar Mag-脗碌Bots with different values of magnetization; (2) geometrically dissimilar Mag-脗碌Bots with similar magnetization; and (3) geometrically dissimilar Mag-脗碌Bots with dissimilar magnetization. The responses of both magnetically hard and soft Mag-脗碌Bots are investigated. By controlling the input magnetic fields, individual and sub-groups of Mag-脗碌Bots are able to locomote in a parallel fashion. Specifically, the magnitude and frequency of the imposed driving magnetic fields are used as selection methods among the Mag-脗碌Bots. Various methods for accomplishing motion discrimination are discussed, modeled, and tested. It is found that while fully decoupled control is not possible with this method, parallel actuation of sub-groups of Mag-脗碌Bots is possible and controllable.