Velocity control with gravity compensation for magnetic helical microswimmers

Advanced Robotics

Volumn 25, Issue 8, 2011, Pages 1007-1028

  Mahoney, Arthur W ^a   Sarrazin, John C ^a   Bamberg, Eberhard ^a   Abbott, Jake J ^a  

^a University of Utah   (United States)

Author keywords

helix; magnetic; Microrobot; screw; untethered; wireless

Indexed keywords

BACTERIAL FLAGELLUM; EXPERIMENTAL VERIFICATION; FLUID ENVIRONMENT; GRAVITY COMPENSATION; HELIX; HUMAN OPERATOR; MAGNETIC; MICRO-SWIMMER; MICROROBOT; MICROROBOTS; OPEN LOOPS; ROTATION SPEED; UNTETHERED;

HUMAN COMPUTER INTERACTION; RADIO; ROBOTICS; SCREWS;

VELOCITY CONTROL;

EID: 80053551085     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/016918611X568620     Document Type: Article

References (18)

1. B. J. Nelson, I. K. Kaliakatsos and J. J. Abbott, Microrobots for minimally invasive medicine, Ann. Rev. Biomed. Eng. 12, 55-85 (2010).
2. C. Pawashe, S. Floyd and M. Sitti, Modeling and experimental characterization of an untethered magnetic micro-robot, Int. J. Robotics Res. 28, 1077-1094 (2009).
3. D. R. Frutiger, K. Vollmers, B. E. Kratochvil and B. J. Nelson, Small, fast, and under control: wireless resonant magnetic micro-agents, Int. J. Robotics Res. 29, 613-636 (2010).
4. L. Zhang, J. J. Abbott, L. X. Dong, B. E. Kratochvil, D. Bell and B. J. Nelson, Artificial bacterial flagella: fabrication and magnetic control, Appl. Phys. Lett. 94, 064107 (2009).
5. M. P. Kummer, J. J. Abbott, B. E. Kratochvil, R. Borer, A. Sengul and B. J. Nelson, OctoMag: an electromagnetic systems for 5-DOF wireless micromanipulation, in: Proc. IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, pp. 1610-1616 (2010).
6. E. M. Purcell, Life at low Reynolds number, Am. J. Phys. 45, 3-11 (1977).
7. T. Honda, K. I. Arai and K. Ishiyama, Micro swimming mechanisms propelled by external magnetic fields, IEEE Trans. Magn. 32, 5085-5087 (1996). (Pubitemid 126780269)
8. A. Ghosh and P. Fischer, Controlled propulsion of artificial magnetic nanostructured propellers, Nano Lett. 9, 2243-2245 (2009).
9. J. J. Abbott, K. E. Peyer, M. Cosentino Lagomarsino, L. Zhang, L. X. Dong, I. K. Kaliakatsos and B. J. Nelson, How should microrobots swim? Int. J. Robotics Res. 28, 1434-1447 (2009).
10. K. E. Peyer, L. Zhang, B. E. Kratochvil and B. J. Nelson, Non-ideal swimming of artificial bacterial flagella near a surface, in: Proc. IEEE Int. Conf. Robotics and Automation, Anchorage, AK, pp. 96-101 (2010).
11. B. Behkem and M. Sitti, Design methodology for biomimetic propulsion of miniature swimming robots, ASME J. Dyn. Syst. Meas. Control 128, 36-43 (2006).
12. L. Zhang, J. J. Abbott, L. X. Dong, K. E. Peyer, B. E. Kratochvil, H. Zhang, C. Bergeles and B. J. Nelson, Characterizing the swimming properties of artificial bacterial flagella, Nano Lett. 9, 3663-3667 (2009).
13. E. Lauga, W. DiLuzio, G. Whitesides and H. Stone, Swimming in circles: motion of bacteria near solid boundaries, Biophys. J. 90, 400-412 (2005).
14. J. Gray and G. J. Hancock, The propulsion of sea-urchin spermatozoa, J. Exp. Biol. 32, 802-814 (1955).
15. J. Lighthill, Flagellar hydrodynamics, SIAM Rev. 18, 161-230 (1976).
16. J. J. Craig, Introduction to Robotics: Mechanics and Control, 2nd edn. Addison Wesley, Reading, MA (1989).
17. F. M. White, Viscous Fluid Flow, 2nd edn. McGraw-Hill, New York, NY (1991).
18. C. Orino, D. Rakwal, J. D. Jorgensen and E. Bamberg, Development of a precision, low-cost, small footprint wire electron discharge machine (WEDM), in: Proc. Amer. Society of Precision Engineering Conf., Monterey, CA, pp. 239-242 (2006).