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

Abstract

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.