RodBot: A rolling microrobot for micromanipulation
Roel Pieters, Hsi-Wen Tung, Samuel Charreyron, David F. Sargent, Bradley J. Nelson
Abstract
We introduce the modelling and control of a rolling microrobot. The microrobot is capable of manipulating micro-objects through the use of a magnetic visual control system. This system consists of a rod-shaped microrobot, a magnetic actuation system and a visual control system. Motion of the rolling microrobot on a supporting surface is induced by a rotating magnetic field. As the robot is submerged in a liquid this motion creates a rising flow in front, a sinking flow behind, and a vortex above the robot, thus enabling non-contact transportation of micro-objects. Besides this fluid-vortex approach, the microrobot is also able to manipulate micro-objects via a pushing strategy. We present the design and modelling of the 50×60×300 μm micro-agent, the visual control system, and an experimental analysis of the micromanipulation and control methods.
BibTeX
@inproceedings{icra2015_rodbotarollingmi,
title = {RodBot: A rolling microrobot for micromanipulation},
author = {Roel Pieters and Hsi-Wen Tung and Samuel Charreyron and David F. Sargent and Bradley J. Nelson},
booktitle = {ICRA 2015},
year = {2015}
}