In this paper, we present experimental results on altitude control of a flying microrobot. The problem is approached in two stages. In the first stage, system identification of two relevant subsystems composing the microrobot is performed, using a static flapping experimental setup. In the second stage, the information gathered through the static flapping experiments is employed to design the c...

In this paper, we present a survey of sh-like propulsion at millimeter scale in order to build high eÆciency swimming microrobots. We begin with a mechanical study of the sh-like propulsion. The mechanical model we used shows that undulatory motions are more eÆcient than oscillatory motions. We applied these theoretical results to the design and the realization of a microrobot propelled by the ...

This paper presents a millimeters scale omni-directional mobile microrobot with special dual-wheel structure. The microrobot was actuated by three electromagnetic micromotors of 2mm diameter. Dynamic analysis of translational and steering movements presented the relationship between the sizes of the dual-wheel structure and the output torque of the micromotor. Genetic algorithm (GA) was employe...

In this study, we developed a microfluidic chip with a magnetically driven microrobot for oocyte enucleation. A microfluidic system was specially designed for enucleation, and the microrobot actively controls the local flow-speed distribution in the microfluidic chip. The microrobot can adjust fluid resistances in a channel and can open or close the channel to control the flow distribution. Ana...

Although several types of locomotive microrobots have been developed, most of them have difficulty locomoting on uneven surfaces. Thus, we have been focused on microrobots that can locomote using step patterns. We are studying insect-type microrobot systems. The locomotion of the microrobot is generated by rotational movements of the shape memory alloy-type rotary actuator. In addition, we have...

Underwater microrobots are in urgent demand for applications such as pollution detection and video mapping in limited space. Compact structure, multi-functionality, and flexibility are normally considered incompatible characteristics for underwater microrobots. Nevertheless, to accomplish our objectives, we designed a novel inchworm-inspired biomimetic locomotion prototype with ionic polymer me...

It is our target to develop underwater microrobots for medical and industrial applications. This kind of underwater microrobots should have the characteristics of flexibility, good response and safety. Its structure should be simple and it can be driven by low voltage and produces no pollution or noise. The low actuating voltage and quick bending responses of Ionic Conducting Polymer Film (ICPF...

In this paper, a piezoelectric microrobot is modelled and simulated based on active force control (AFC) with a proportional (P) – type iterative learning algorithm (ILA) operating in a constrained environment for an in-pipe application. A mathematical model that represents the dynamic characteristics of microrobot has been developed considering the robot system subjected to different input exci...

In this paper, we will propose the neural networks integrated circuit (NNIC) which is the driving waveform generator of the 4.0, 2.7, 2.5 mm, width, length, height in size biomimetics microelectromechanical systems (MEMS) microrobot. The microrobot was made from silicon wafer fabricated by micro fabrication technology. The mechanical system of the robot was equipped with small size rotary type ...

This paper presents the locomotion control of a microelectromechanical system (MEMS) microrobot. The MEMS microrobot demonstrates locomotion control by pulse-type hardware neural networks (P-HNN). P-HNN generate oscillatory patterns of electrical activity like those of living organisms. The basic component of P-HNN is a pulse-type hardware neuron model (P-HNM). The P-HNM has the same basic feat...