Feedback control of three-bead achiral robotic microswimmers

U. Kei Cheang, Hoyeon Kim, Dejan Milutinovic, Jongeun Choi, Louis Rogowski, Min Jun Kim

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

9 Citations (Scopus)

Abstract

In this paper, we demonstrate the feedback control of the three-bead achiral microswimmers in simulation and experiment. The achiral microswimmers are controlled wirelessly using magnetic fields with the ability to swim in bulk fluid. The achirality of the microswimmer introduces unknown handedness of the microswimmer resulting in uncertainty in swimming direction. We use a combination of rotating and static magnetic fields generated from an approximate Helmholtz coil system to overcome such uncertainty. We estimate a quantitative kinematic model based on data fitting of experimental data and design the vision-based feedback control for the microswimmers using the estimated kinematic model. Through simulation and experiments, we show that the feedback control law can move an achiral microswimmer from any initial conditions to a target pose.

Original languageEnglish
Title of host publication2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages518-523
Number of pages6
ISBN (Electronic)9781467379700
DOIs
Publication statusPublished - 2015 Dec 16
Event12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of
Duration: 2015 Oct 282015 Oct 30

Publication series

Name2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015

Other

Other12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
CountryKorea, Republic of
CityGoyang City
Period15/10/2815/10/30

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Cheang, U. K., Kim, H., Milutinovic, D., Choi, J., Rogowski, L., & Kim, M. J. (2015). Feedback control of three-bead achiral robotic microswimmers. In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 (pp. 518-523). [7358819] (2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2015.7358819