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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 -
Dynamic Modeling of a Basilisk Lizard Inspired Quadruped Robot Running on Water
(2008)2008 IEEE/RSJ International Conference on Intelligent Robots and SystemsThis paper proposes a 3-D dynamic simulation of a previously developed basilisk lizard inspired quadruped robot, which is capable of locomotion on the surface of water. Using this 3-D simulation along with several 1-D and 2-D models, stability in terms of robot elevation from the water surface and robot rolling are examined. Analysis of the lifting force shows the robot is capable of running on water using viscous drag forces. Using this ...Conference Paper -
Dynamic Modeling and Analysis of Pitch Motion of a Basilisk Lizard Inspired Quadruped Robot Running on Water
(2009)2009 IEEE International Conference on Robotics and AutomationA quadrupedal robot inspired by the basilisk lizard was developed and modeled with a 3D real time simulation. Due to the robot's geometry, leg motion, and water interactions, the net pitch moment at the center of mass is not zero making pitch motion unstable. This paper introduces two types of tails, passive and active, to stabilize pitch motion and analyzes the advantages and disadvantages of each. It is shown in simulation that a purely ...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