Control of Multiple Heterogeneous Magnetic Micro-Robots on Non-Specialized Surfaces
In 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 are investigated. By controlling the magnetic field waveforms, individual and subgroups of Mag-μBots are able to locomote in a parallel but dissimilar fashion. Specifically, the pulsing frequency of the imposed driving magnetic fields is used as a selection method among the Mag-μBots. This method for accomplishing motion discrimination is discussed, modeled, and tested. Independent global positioning of two and three robots is demonstrated in two-dimensional space. While individual Mag-μBot velocities can be as high as 7 mm/s, the effective velocities during multirobot control are found to be up to 2 mm/s. As this control method is accomplished without the use of a specialized surface, it has potential applications in areas such as micro-fluidic systems and bio-manipulation.
Eric Diller Steven Floyd Chytra Pawashe Metin Sitti
Department of Mechanical Engineering,Carnegie Mellon University,Pittsburgh,PA 15213,USA University,Pittsburgh,PA 15213,USA Arete Arlington VA 22202,USA Institute,Carnegie Mellon University,Pittsburgh,PA 15213,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
115-120
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）