2020
3D Path-Following Using MRAC on a Millimeter-Scale Spiral-Type Magnetic Robot
RA-L 2020
This letter focuses on the 3D path-following ofa spiraltype helical magnetic swimmer in a water-filled workspace. The swimmer has a diameter of 2.5 mm, a length of 6 mm, and is controlled by an external time-varying magnetic field. A method to compensate undesired magnetic gradient forces is propose