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Control of Multiple Heterogeneous Magnetic Micro-Robots on Non-Specialized Surfaces
(2011)2011 IEEE International Conference on Robotics and AutomationIn this work, we develop methods for controlling multiple untethered magnetic micro-robots (called Mag-μBots), with all dimensions under 1 mm, without the need for a specialized surface. We investigate sets of Mag-μBots that are geometrically and magnetically designed to respond uniquely to the same magnetic fields. The responses of geometrically dissimilar Mag-μBots with similar magnetization and a group of identically-fabricated Mag-μBots ...Conference Paper -
Assembly and Disassembly of Magnetic Mobile Micro-Robots towards Deterministic 2-D Reconfigurable Micro-Systems
(2011)IEEE International Conference on Robotics and AutomationA 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-μMods, 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 ...Conference Paper -
Assembly and Disassembly of Magnetic Mobile Micro-Robots towards 2-D Reconfigurable Micro-Systems
(2011)Springer Tracts in Advanced Robotics ~ Robotics ResearchA 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 900 μm × 900 μm × 270 μm in size, called Mag-μMods, for use in a reconfigurable micro-system. The module is actuated by oscillating external magnetic fields less than 5 mT in strength, and is capable of locomoting on a 2-D surface. Multiple modules can be controlled ...Conference Paper