3 accepted papers
Flexible and helical magnetic microswimmers have been well reviewed in the literature because they could be exploited for envisaged applications such as targeted drug delivery, material removal, and micromanipulation. In this article, scaled-up versions of those robots are introduced to study in det…
Previously, we developed a 3D path following algorithm to improve the microrobot performances to overcome the modeling errors and environmental disturbances in order to perform real tasks, tested experimentally in a scaled-up helical microswimmer. In this paper, we show that adapting the propulsion…
This paper addresses the problem of 3D path following of magnetic helical microswimmers in closed-loop. An error kinematic model in a local frame with sideslip and attack angles is used to express the motion of the helical microswimmer. A new derivation of the chained form with three inputs and five