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Chemotactic behavior and dynamics of bacteria propelled microbeads
(2011)2011 IEEE/RSJ International Conference on Intelligent Robots and SystemsFlagellated bacteria have been well understood in regards to its adhesion to surfaces and in swimming propulsion. However, its ability to be used as a source of propulsion for artificial microsystems is of great interest to the micro-robotics community; its high efficiency in converting chemical energy to motion is highly attractive for microsystems that demand a low payload and high rate of actuation. In this paper, we describe the ...Conference Paper -
Free Flight Simulations and Pitch and Roll Control Experiments of a Sub-gram Flapping-Flight Micro Aerial Vehicle
(2011)2011 IEEE International Conference on Robotics and AutomationFlapping-flight micro aerial vehicles (MAVs) pose an ongoing design problem to the scientific community, requiring careful consideration of both body structure and force production. Here, we examine a flapping MAV prototype with a passively rotating wing design. While at the current scale the lift force produced is not enough for liftoff, observing its performance under roll and pitch control can lead to insights on both the body design ...Conference Paper -
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 -
Design and Analysis of a Magnetically Actuated and Compliant Capsule Endoscopic Robot
(2011)2011 IEEE International Conference on Robotics and AutomationIn this paper, we propose a compliant and tetherless magnetic capsule endoscopic robot. The proposed capsule robot has two key features. First, it has one extra degree of freedom axial contraction capability to perform additional tasks such as a drug releasing, a drug injection, or a biopsy. Also, design features of the magnetically deformed capsule robot are introduced. Its characteristic deformation curve, which was measured using an ...Conference Paper -
An XY θz flexure mechanism with optimal stiffness properties
(2017)2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)The development of optimal XY θ z flexure mechanisms, which can deliver high precision motion about the z-axis, and along the x- and y-axes is highly desirable for a wide range of micro/nano-positioning tasks pertaining to biomedical research, microscopy technologies and various industrial applications. Although maximizing the stiffness ratios is a very critical design requirement, the achievable translational and rotational stiffness ...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 -
A Perching Mechanism for Flying Robots Using a Fibre-Based Adhesive
(2013)2013 IEEE International Conference on Robotics and AutomationRobots capable of hover flight in constrained indoor environments have many applications, however their range is constrained by the high energetic cost of airborne locomotion. Perching allows flying robots to scan their environment without the need to remain aloft. This paper presents the design of a mechanism that allows indoor flying robots to attach to vertical surfaces. To date, solutions that enable flying robot with perching ...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 -
SoftCubes: Towards a Soft Modular Matter
(2013)2013 IEEE International Conference on Robotics and AutomationThis paper proposes a soft self-assembling modular matter, which is called SoftCubes where serially connected soft cubes can be extremely stretched by external tension and has a self-recovery capability to an originally designed 3-D shape. The developed soft modular matter has three main design features. First, entire modules of the 3-D assembled shape are serially connected. Such a structure allows all the modules to be disassembled and ...Conference Paper