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

Jinsoo Kim; Seung Jong Kim

doi:10.1109/ICRA.2014.6907134

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

Jinsoo Kim, Seung Jong Kim

* New professors

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 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 language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2071-2076
Number of pages	6
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907134
Publication status	Published - 2014 Sept 22
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 2014 May 31 → 2014 Jun 7

Publication series

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

Other

Other	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	14/5/31 → 14/6/7

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2014.6907134

Cite this

Kim, J., & Kim, S. J. (2014). A novel two-dimensional locomotion scheme of a micro-robot with only a uniform magnetic field. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2071-2076). Article 6907134 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907134

A novel two-dimensional locomotion scheme of a micro-robot with only a uniform magnetic field. / Kim, Jinsoo; Kim, Seung Jong.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2071-2076 6907134 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, J & Kim, SJ 2014, A novel two-dimensional locomotion scheme of a micro-robot with only a uniform magnetic field. in Proceedings - IEEE International Conference on Robotics and Automation., 6907134, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 2071-2076, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 14/5/31. https://doi.org/10.1109/ICRA.2014.6907134

Kim J, Kim SJ. A novel two-dimensional locomotion scheme of a micro-robot with only a uniform magnetic field. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2071-2076. 6907134. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907134

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

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