Survey on research for automatic manipulation of magnetic micro-robots

被引：1
作者：
Liu J. [1 ]
Xu T.-T. [1 ]
Wu X.-Y. [1 ]
机构：
[1] Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Guangdong, Shenzhen
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2024年 / 41卷 / 04期
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
closed-loop control; magnetic actuation; magnetic micro-robot; magnetic soft micro-robot; path planning;
D O I：
10.7641/CTA.2022.11076
中图分类号：
学科分类号：
摘要：
Micro-robots are important branch of robotics research, their characteristic lengths are in a range of hundreds nanometers to several millimeters. Micro-robots wirelessly controlled by low-intensity electromagnetic fields can swim in narrow environment and complete complex tasks. There is a wide application prospect in biomedical research such as micromanipulation, targeted drug delivery, and in vivo sensing labeling. During the past decades, many important theoretical and practical methods are proposed in the structural design, micro/nano fabrication, motion planning and servo control of magnetic micro-robots. This article aims to introduce the application of automatic manipulation in magnetic micro-robots, mainly including the motion modeling, closed-loop control and path planning, and also discusses the challenges of magnetic soft micro-robots in modeling and motion control. Finally, the future researches of magnetic micro-robots in control and planning are proposed. © 2024 South China University of Technology. All rights reserved.
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页码：667 / 680
页数：13
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