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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 -
Magnetic Hysteresis for Multi-State Addressable Magnetic Microrobotic Control
(2012)2012 IEEE/RSJ International Conference on Intelligent Robots and SystemsWe present a new scheme of remote addressable magnetic actuation for sub-mm microrobotics which uses the hysteresis characteristics of multiple magnetic materials to achieve advanced state control of many magnetic actuators sharing the same magnetic control inputs. Using this standard approach, remote magnetic actuation of a single magnet has been achieved for untethered motion control with a single magnetic control input. We propose the ...Conference Paper -
Rotating Magnetic Micro-Robots for Versatile Non-Contact Fluidic Manipulation of Micro-Objects
(2011)2011 IEEE/RSJ International Conference on Intelligent Robots and SystemsThis work introduces new strategies for fluid-based manipulation of micro-scale objects using rotating magnetic micro-robots at low Reynolds numbers. By rapidly spinning the micro-robots, rotational fluid flow is induced which acts to move the micro-objects by fluidic drag. Acting in parallel, teams of these micro-robots are shown to work together to rapidly move micro-objects along planned “virtual channel”s to goal positions. As the ...Conference Paper -
Three Dimensional Independent Control of Multiple Magnetic Microrobots
(2013)2013 IEEE International Conference on Robotics and AutomationA major challenge for untethered micro-scale 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 based direct pulling as the 3D motion generation method. This is accomplished through the use of geometrically or magnetically distinct microrobots which assume ...Conference Paper -
Bonding Methods for Modular Micro-Robotic Assemblies
(2013)2013 IEEE International Conference on Robotics and AutomationTo address some of the challenges in modular micro-robotics, we present a new heat-activated bonding method for assembly. This bonding method quickly forms strong bonds through the use of thermoplastic or solder binding sites integrated into each module face, addressing problems of assembly strength and electrical conductivity. The strength of the bonds for each method are compared for different module styles, bonding conditions and ...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 -
Three-Dimensional Robotic Manipulation and Transport of Micro-Scale Objects by a Magnetically Driven Capillary Micro-Gripper
(2014)2014 IEEE International Conference on Robotics and Automation (ICRA)One major challenge for untethered micro-scale mobile robotics is the manipulation of external objects in the robot's three-dimensional (3D) work environment. Here, we present a method to use the capillary force at a solid-liquid-gas interface to reversibly attach objects to a mobile magnetic microrobot. This is accomplished by the addition of a cavity in the hydrophobic microrobot, in which an air bubble is captured when the microrobot ...Conference Paper -
Addressing of micro-robot teams and non-contact micro-manipulation
(2014)Lecture Notes in Artificial Intelligence ~ Small-Scale Robotics From Nano-to-Millimeter-Sized Robotic Systems and ApplicationsThis manuscript presents two methods for the addressable control of multiple magnetic microrobots. Such methods could be valued for microrobot applications requiring high speed parallel operation. The first uses multiple magnetic materials to enable selective magnetic disabling while the second allows for independent magnetic forces to be applied to a set of magnetic micro-robots moving in three dimensions. As an application of untethered ...Conference Paper