ChevBot – An Untethered Microrobot Powered by Laser for Microfactory Applications

Zhang, Ruoshi; Sherehiy, Andriy; Zhong, Yi; Wei, Danming; Harnett, C. K.; Popa, Dan O.

doi:10.1109/icra.2019.8793856

Cited by 15 publications

(8 citation statements)

References 19 publications

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“…In general, optothermal microactuators are mainly implemented in bentbeam [12], [13], hot-cold arm [14], or bimaterial [15] designs. For instance, Elbuken et al [12] have developed a photothermally actuated microgripper fabricated with a single polymeric layer (SU-8) and based on the bentbeam microactuator.…”

Section: Introductionmentioning

confidence: 99%

Remotely Actuated Optothermal Robotic Microjoints Based on Spiral Bimaterial Design

Ahmad

Barbot

Ulliac

et al. 2022

IEEE/ASME Trans. Mechatron.

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Section: Introductionmentioning

confidence: 99%

Remotely Actuated Optothermal Robotic Microjoints Based on Spiral Bimaterial Design

Ahmad

Barbot

Ulliac

et al. 2022

IEEE/ASME Trans. Mechatron.

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“…In our past work with SerpenBots, the fabrication process included an assembly step to connect the robot body and dimple with the help of the UV adhesive. Unfortunately, this introduced significant difficulties in maintaining robot dimensional precision and required delicate steps of aligning the dimple with the microrobot's body using a dedicated micro-assembly station [27,28]. Moreover, during operation, we often experienced decomposition of the UV adhesive at elevated temperatures during laser irradiation.…”

Section: Serpenbot Fabricationmentioning

confidence: 99%

“…It is driven by microscale thermal actuators which are sequentially engaged when irradiated by a pulsed laser. The laser enables motion and steering control as well acting as a power supply, [26,27,28]. In our previous preliminary studies, we have shown that steering control of microrobots in dry environments can be realized in two ways: 1) tuning laser frequency [29,30], and 2) controlling the off-axis location for selective irradiation of the robot's body.…”

Section: Introductionmentioning

confidence: 99%

Learning Control of a Laser-Driven Locomotive Microrobot for Dry Environments

Zhong

Alqatamin

Sherehiy

et al. 2022

Preprint

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In this paper, we introduce the SerpenBot, a microrobot smaller than 1mm in size, powered by laser energy, and designed to operate in dry environments. The microrobot achieves locomotion on a Si substrate by selective coupling of laser energy between two legs that move the robot forward and steer it. The laser energy coupling mechanism is achieved by selective energy-time irradiation of the microrobot’s body and legs to initiate the gait. Complex multi-physics models developed in our past work are simplified to a differential drive kinematic model that approximates the robot behavior and is used to formulate a deep learning controller that can steer the robot to desired locations on the silicon substrate. Simulations predict the robot position regulation achieved by deep learning of the inverse robot Jacobian. Experimental results are presented confirming that the microrobot can be automatically steered to a goal location.

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“…Hence, besides nonintuitive physics, difficult observation, and fabrication, power transfer appears to be the main challenges of this field [9,10]. So far several powering methods such as optoelectronic tweezers [11], temperature variation by laser beam [12], and electro-static actuation [13] have been presented. However, due to the harmlessness and penetration depth of magnetic field through the human's cell, and the existence of nanomagnetic particles in the living organism [14], magnetic actuation is a widely used method for biomedical applications [15].…”

Section: Introductionmentioning

confidence: 99%

Position control of a wheel-based miniature magnetic robot using neuro-fuzzy network

2022

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Untethered small-scale robots can accomplish tasks which are not feasible by conventional macro robots. In the current research, we have designed and fabricated a miniature magnetic robot actuated by an external magnetic field. The proposed robot has two coaxial wheels and one magnetic dipole which is capable of rolling and moving on the surface by variation in the direction of magnetic field. To generate the desired magnetic field, a Helmholtz electromagnetic coil is manufactured. To steer the robot to the desired position, at first the robot dynamics is investigated, and subsequently a controller based on a neuro-fuzzy network has been designed. Finally, the proposed controller is implemented experimentally and the performance of the control system is demonstrated.

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ChevBot – An Untethered Microrobot Powered by Laser for Microfactory Applications

Cited by 15 publications

References 19 publications

Remotely Actuated Optothermal Robotic Microjoints Based on Spiral Bimaterial Design

Remotely Actuated Optothermal Robotic Microjoints Based on Spiral Bimaterial Design

Learning Control of a Laser-Driven Locomotive Microrobot for Dry Environments

Position control of a wheel-based miniature magnetic robot using neuro-fuzzy network

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