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Towards Functional Mobile Microrobotic Systems

School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA
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Robotics 2019, 8(3), 69; https://doi.org/10.3390/robotics8030069
Received: 27 June 2019 / Revised: 26 July 2019 / Accepted: 1 August 2019 / Published: 7 August 2019
This paper presents our work over the last decade in developing functional microrobotic systems, which include wireless actuation of microrobots to traverse complex surfaces, addition of sensing capabilities, and independent actuation of swarms of microrobots. We will discuss our work on the design, fabrication, and testing of a number of different mobile microrobots that are able to achieve these goals. These microrobots include the microscale magnetorestrictive asymmetric bimorph microrobot ( μ MAB), our first attempt at magnetic actuation in the microscale; the microscale tumbling microrobot ( μ TUM), our microrobot capable of traversing complex surfaces in both wet and dry conditions; and the micro-force sensing magnetic microrobot ( μ FSMM), which is capable of real-time micro-force sensing feedback to the user as well as intuitive wireless actuation. Additionally, we will present our latest results on using local magnetic field actuation for independent control of multiple microrobots in the same workspace for microassembly tasks. View Full-Text
Keywords: mobile microrobotics; magnetic actuation; micro force sensing; microswarms mobile microrobotics; magnetic actuation; micro force sensing; microswarms
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Adam, G.; Chowdhury, S.; Guix, M.; Johnson, B.V.; Bi, C.; Cappelleri, D. Towards Functional Mobile Microrobotic Systems. Robotics 2019, 8, 69.

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