Fundamental Principles and Issues of High-speed Piezoactuated Three-legged Motion for Miniature Robots Designed for Nanometer-scale Operations

Martel, Sylvain

doi:10.1177/0278364905055594

Cited by 25 publications

(11 citation statements)

References 23 publications

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“…A three-legged miniature robot [1], ambulatory robot HAMR [2], and myriapod robot [3] with legged locomotion were developed using piezo actuators. A piezo actuator is one of popular micro actuators.…”

Section: Introductionmentioning

confidence: 99%

Miniaturized Dual Electromagnetic Oscillatory Actuator for Legged Locomotion of Micro Mobile Robots

Shin¹,

Lee²,

Kim³

2014

IJCA

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In this research we propose a miniaturized dual electromagnetic oscillatory actuator. The proposed actuator is a moving magnet type voice coil actuator with two rotating parts. The structure of the actuator is simple, which includes two magnets, a coil, and a yoke. We provide a linear model to characterize the actuator. We then determine torque and restoring constants using finite element simulation. We also present the dynamic characteristics of the actuator. We propose several types of legged locomotion using dual electromagnetic oscillatory actuators, which is demonstrated and verified using our legged robot prototypes.

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Section: Introductionmentioning

confidence: 99%

Miniaturized Dual Electromagnetic Oscillatory Actuator for Legged Locomotion of Micro Mobile Robots

Shin¹,

Lee²,

Kim³

2014

IJCA

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“…Microrobots have been demonstrated based on actuators such as piezoelectric vibrating legs [1], scratchdrive actuators [2] with independent steering arms, thermally actuated silicon legs [3], and artificial flagella made of carbon nanotubes [4], among others. Techniques have also been developed to externally manipulate single cells in parallel using dielectrophoresis [5].…”

Section: Introductionmentioning

confidence: 99%

Principles of motion control of bacterial micro-robots using oxygen gradients

Shechter¹

2010

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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We introduce a method of motion control for bacterial microrobots using oxygen gradients. The bacteria (magnetotactic coccus strain MC-1) have a strong preference for a particular oxygen concentration and reverse swimming direction in order to remain at that oxygen concentration. At the same time, MC-1 consume oxygen, changing the dynamics of the system. We propose that we can use this behavior to passively control the motion of bands of MC-1 by carefully setting oxygen inputs. Mode of operation is introduced and displacement control by varying oxygen concentration in air adjacent to the bacterial medium is experimentally demonstrated. We develop a test channel and measure response of bands of MC-1 to various fixed concentrations of oxygen over time, as well as a finite concentration of oxygen.

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“…They have been used in various research fields, such as artificial intelligence, military and entertainment. In recent years, much attention has concentrated on the research of micromanipulation microrobots, such as MINIMAN [5], MiCRon [6], NanoWalker [7], and RollBot [8]. These microrobots all employed piezoceramic actuators and the stick-slip locomotion technique [9] to achieve high micromanipulation positioning precision, which is a very important parameter for them.…”

Section: Introductionmentioning

confidence: 99%

Microassembly path planning using reinforcement learning for improving positioning accuracy of a 1 cm3 omni-directional mobile microrobot

Chen

2009

Appl Intell

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This paper introduces the path planning of a 1 cm 3 mobile microrobot that is designed for microassembly in a microfactory. Since the conventional path planning method can not achieve high microassembly positioning accuracy, a supervised learning assisted reinforcement learning (SL-RL) method has been developed. In this mixed learning method, the reinforcement learning (RL) is used to search a movement path in the normal learning area. But when the microrobot moves into the buffer area, the supervised learning (SL) is employed to prevent it from moving out of the boundary. The SL-RL uses a gradient descent algorithm based on uniform grid tile coding under SARSA(λ) to handle the large learning state space. In addition to the uniform grid tile model, two irregular tile models called an uneven grid tile model and a cobweb tile model are designed to partition the microrobot state space. The main conclusions demonstrated by simulations are as follows: First, the SL-RL method achieves higher positioning accuracy than the conventional path planning method; second, the SL-RL method achieves higher positioning accuracy and learning efficiency than the single RL method; and third, the irregular tile models show higher learning efficiency than the uniform tile model. The cobweb tile model performs especially well.

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Fundamental Principles and Issues of High-speed Piezoactuated Three-legged Motion for Miniature Robots Designed for Nanometer-scale Operations

Cited by 25 publications

References 23 publications

Miniaturized Dual Electromagnetic Oscillatory Actuator for Legged Locomotion of Micro Mobile Robots

Miniaturized Dual Electromagnetic Oscillatory Actuator for Legged Locomotion of Micro Mobile Robots

Principles of motion control of bacterial micro-robots using oxygen gradients

Microassembly path planning using reinforcement learning for improving positioning accuracy of a 1 cm3 omni-directional mobile microrobot

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