This paper introduces the development of biomimetic underwater microrobots consisting of AVR microcontroller, an infrared ray communication system, and ionic conducting polymer film (ICPF) actuators. We use AVR ATmega16 as the control unit and an infrared ray receiver to provide feedback to the AVR unit. The spiral particle pathway searching approach is developed to search for particles. We als...

Integration of the operator’s haptic sensory modality in microrobotic cell injection offers immense benefits over conventional techniques. In particular, the haptically enabled system should be able to manipulate the microrobot in micro resolution. This requires a precision control strategy capable of tracking the trajectory mapped from the haptic side. As the system has an unknown internal str...

T his article describes the development of an autonomous hybrid microrobot that uses legs for propulsion and support of the rear half of the body and a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs, and compressed air is generated by an onboard power plant. Control is also onboard in the form of a PIC microcontroller, from Microchip Technology Inc., ...

Underwater vehicles have been extensively applied to underwater intervention missions instead of human in recent years. As the crucial equipment of underwater vehicles, underwater manipulators typically play an important role in the underwater tasks. Generally, underwater manipulators are operated manually by human with remotely operated vehicles (ROVs). A KORDI ROV with a dual teleoperated man...

Abstract: The assembly of complex microsystems consisting of several single components (i.e. hybrid microsystems) is a task which has to be solved to make mass production of microsystems possible. Therefore, it is necessary to introduce flexible, highly precise and fast microassembly methods. In this paper, the control system of a microrobot-based microassembly desktop station that has been dev...

This paper studies the behavior of rotating magnetic microrobots, constructed with a permanent magnet or a soft ferromagnet, when the applied magnetic field rotates faster than a microrobot’s step-out frequency (the frequency requiring the entire available magnetic torque to maintain synchronous rotation). A microrobot’s velocity dramatically declines when operated above the step-out frequency....

This paper deals with a distance learning environment in the field of educational robotics. On the one hand, the learners interact with this environment through pedagogical activities (browsing electronic book, designing and building micro-robots, describing and driving micro-robots). On the other hand, the teacher has to prepare these activities and to help the learners when they encounter dif...

Magnetic resonance imaging (MRI)-guided robots emerged as a promising tool for minimally invasive medical operations. Recently, MRI scanners have been proposed actuating and localizing magnetic microrobots in the patient’s body using two-dimensional (2D) MR images. However, three-dimensional (3D) tracking during motion is still an untackled issue MRI-powered microrobotics. Here, we present deep...