Convex Optimization
Introduction to Magnetic Materials
Introduction to Magnetic Materials
International Journal of Robotics Research
Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot
International Journal of Robotics Research
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
OctoMag: an electromagnetic system for 5-DOF wireless micromanipulation
IEEE Transactions on Robotics
Modeling, control and experimental characterization of microbiorobots
International Journal of Robotics Research
Control methodologies for a heterogeneous group of untethered magnetic micro-robots
International Journal of Robotics Research
International Journal of Robotics Research
IEEE Transactions on Robotics
Control of Multiple Heterogeneous Magnetic Microrobots in Two Dimensions on Nonspecialized Surfaces
IEEE Transactions on Robotics
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A major challenge for untethered microscale mobile robotics is the control of many agents in the same workspace for distributed operation. In this work, we present a new method to independently control multiple sub-mm microrobots in three dimensions (3D) using magnetic gradient pulling as the 3D motion generation method. Motion differentiation is accomplished through the use of geometrically or magnetically distinct microrobots which assume different magnetization directions in a rotating or oscillating magnetic field. This allows for different magnetic forces to be exerted on each, enabling independent motion control and path following of multiple microrobots along arbitrary 3D trajectories. Path following in 3D with less than 310 μm mean error is shown for a set of two microrobots of size 350 μm and 1500 μm, and independent motions are shown with three microrobots. It is also shown that control of more microrobots could be possible using improved magnetic coil hardware. Microrobot diversity is analyzed with regards to the effect on independent control. The proposed addressability method could be used for the 3D control of a team of microrobots inside microfluidic channels or in the human body for localized therapy or diagnostics.