A novel two-dimensional locomotion scheme of a micro-robot with only a uniform magnetic field

Jinsoo Kim, Seung-Jong Kim

Research output: Contribution to journalConference article

6 Citations (Scopus)

Abstract

This paper presents a novel motion control method of a micro-robot for biomedical applications. The proposed micro-robot is composed of a permanent magnet with oblique magnetization, and the electromagnetic actuation (EMA) system consists of only two pairs of Helmholtz coils arranged at a right angle on a horizontal plane. While conventional systems generally use the magnetic field gradient for the propulsion, the proposed system uses only a uniform magnetic field. By virtue of these strategies, we can make the system smaller and reduce the power consumption compared to the pre-existing EMA systems. To verify the feasibility of the proposed system, basic experiments and trajectory tracking were performed under different environments.

Original languageEnglish
Article number6907134
Pages (from-to)2071-2076
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
Publication statusPublished - 2014 Sep 22
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

Fingerprint

Robots
Magnetic fields
Motion control
Propulsion
Permanent magnets
Magnetization
Electric power utilization
Trajectories
Experiments

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

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AB - This paper presents a novel motion control method of a micro-robot for biomedical applications. The proposed micro-robot is composed of a permanent magnet with oblique magnetization, and the electromagnetic actuation (EMA) system consists of only two pairs of Helmholtz coils arranged at a right angle on a horizontal plane. While conventional systems generally use the magnetic field gradient for the propulsion, the proposed system uses only a uniform magnetic field. By virtue of these strategies, we can make the system smaller and reduce the power consumption compared to the pre-existing EMA systems. To verify the feasibility of the proposed system, basic experiments and trajectory tracking were performed under different environments.

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