학술논문
Design of the $\mu$MAZE Platform and Microrobots for Independent Control and Micromanipulation Tasks
Document Type
Periodical
Author
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 5(4):5677-5684 Oct, 2020
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
We present the $\mu$MAZE ($\mu$(Micro) Magnetic Actuation Zone control Environment) platform for independent control of multiple magnetic microrobots for performing individual and collaborative micromanipulation tasks. We present a new local magnetic field generating coil system design, microrobot design, actuation scheme, and orientation control for actuating multiple magnetic microrobots independently. The new designs are validated and experiments showcasing their abilities are presented. The demonstrations include closed-loop independent and simultaneous control of four microrobots and a sample micromanipulation task involving two microrobots pushing micro-parts into a prescribed formation.