中文版 | English
Title

Motion planning of particle based microrobots for static obstacle avoidance

Author
Corresponding AuthorMin Jun Kim
Joint first authorHoyeon Kim
Publication Years
2018-05-12
Source Title
Abstract

Magnetic microrobots have been shown to be effective at navigating microscale environments which has led to many investigations reguarding the motion control of microrobots. To increase the feasibility of using microrobots for microscale tasks and widen the range of potential applications, the use of autonomous navigation systems will be essential. In this work, the magnetic particle based achiral microrobots are controlled wirelessly using a combination of rotating and static magnetic fields generated from electromagnetic coils in an approximate Helmholtz configuration. In previous work, we developed both a kinematic model for particle based microrobots and a feedback controller; once implemented, the controller can guide the microrobots to any goal positions. In the present work, we demonstrate path planning motion control for magnetic particle based microrobots in microfluidic channels formed using patterned static SU-8 microstructures. The microrobots were able to avoid collision with the microstructures, which acted as static obstacles, by using a gradient path method. In experiments, microrobots were able to reach the final goal position by following waypoints of generated path from the gradient path method in a static obstacle laden environment.

Keywords
Indexed By
Language
English
SUSTech Authorship
Others
Data Source
人工提交
Document TypeJournal Article
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/416110
DepartmentDepartment of Mechanical and Energy Engineering
工学院
Affiliation
1.Department of Mechanical Engineering, Southern Methodist University, Dallas, TX, 75275, USA
2.Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, Guangdong, China
Recommended Citation
GB/T 7714
Hoyeon Kim,U. Kei Cheang,Louis W. Rogowski,et al. Motion planning of particle based microrobots for static obstacle avoidance[J]. Micro-Bio Rob,2018.
APA
Hoyeon Kim,U. Kei Cheang,Louis W. Rogowski,&Min Jun Kim.(2018).Motion planning of particle based microrobots for static obstacle avoidance.Micro-Bio Rob.
MLA
Hoyeon Kim,et al."Motion planning of particle based microrobots for static obstacle avoidance".Micro-Bio Rob (2018).
Files in This Item:
There are no files associated with this item.
Related Services
Fulltext link
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Export to Excel
Export to Csv
Altmetrics Score
Google Scholar
Similar articles in Google Scholar
[Hoyeon Kim]'s Articles
[U. Kei Cheang]'s Articles
[Louis W. Rogowski]'s Articles
Baidu Scholar
Similar articles in Baidu Scholar
[Hoyeon Kim]'s Articles
[U. Kei Cheang]'s Articles
[Louis W. Rogowski]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Hoyeon Kim]'s Articles
[U. Kei Cheang]'s Articles
[Louis W. Rogowski]'s Articles
Terms of Use
No data!
Social Bookmark/Share
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.