Velocity Control with Gravity Compensation for Magnetic Helical Microswimmers

被引：104

作者：

Mahoney, Arthur W. ^{[1
]}

Sarrazin, John C. ^{[2
]}

Bamberg, Eberhard ^{[2
]}

Abbott, Jake J. ^{[2
]}

机构：

[1] Univ Utah, Sch Comp, Salt Lake City, UT 84112 USA

[2] Univ Utah, Dept Mech Engn, Salt Lake City, UT 84112 USA

来源：

ADVANCED ROBOTICS | 2011年 / 25卷 / 08期

基金：

美国国家科学基金会;

关键词：

Microrobot; helix; screw; magnetic; wireless; untethered; MICROROBOTS; PROPULSION;

D O I：

10.1163/016918611X568620

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Magnetic helical microswimmers, which swim using a method inspired by the propulsion of bacterial flagella, are promising for use as untethered micromanipulators and as medical microrobots. Man-made devices are typically heavier than their fluid environment and consequently sink due to their own weight. To date, methods to compensate for gravitational effects have been ad hoc. In this paper, we present an open-loop algorithm for velocity control with gravity compensation for magnetic helical microswimmers that enables a human operator or automated controller to command desired velocity intuitively, rather than directly controlling the microswimmer's orientation and rotation speed. We provide experimental verification of the method. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011

引用

页码：1007 / 1028

页数：22

共 18 条

[1] How Should Microrobots Swim? [J].