Design of the $\mu$MAZE Platform and Microrobots for Independent Control and Micromanipulation Tasks
Benjamin V. Johnson, Nathan Esantsi, David J. Cappelleri
Abstract
We present the μMAZE (μ(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.
BibTeX
@inproceedings{ral2020_designofthemumaz,
title = {Design of the $\mu$MAZE Platform and Microrobots for Independent Control and Micromanipulation Tasks},
author = {Benjamin V. Johnson and Nathan Esantsi and David J. Cappelleri},
booktitle = {RA-L 2020},
year = {2020}
}