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

Jinsoo Kim, Seung Jong Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 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
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2071-2076
Number of pages6
ISBN (Electronic)9781479936854, 9781479936854
DOIs
Publication statusPublished - 2014 Sep 22
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period14/5/3114/6/7

ASJC Scopus subject areas

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

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