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

    9 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 Sept 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

    Bibliographical note

    Publisher Copyright:
    © 2014 IEEE.

    ASJC Scopus subject areas

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

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