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Millimeter-scale magnetic swimmers using elastomeric undulations

2015

Conference Paper

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This paper presents a new soft-bodied millimeterscale swimmer actuated by rotating uniform magnetic fields. The proposed swimmer moves through internal undulatory deformations, resulting from a magnetization profile programmed into its body. To understand the motion of the swimmer, a mathematical model is developed to describe the general relationship between the deflection of a flexible strip and its magnetization profile. As a special case, the situation of the swimmer on the water surface is analyzed and predictions made by the model are experimentally verified. Experimental results show the controllability of the proposed swimmer under a computer vision-based closed-loop controller. The swimmers have nominal dimensions of 1.5×4.9×0.06 mm and a top speed of 50 mm/s (10 body lengths per second). Waypoint following and multiagent control are demonstrated for swimmers constrained at the air-water interface and underwater swimming is also shown, suggesting the promising potential of this type of swimmer in biomedical and microfluidic applications.

Author(s): Zhang, J. and Diller, E.
Book Title: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Journal: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages: 1706-1711
Year: 2015
Month: September

Department(s): Physical Intelligence
Bibtex Type: Conference Paper (inproceedings)
Paper Type: Book

DOI: 10.1109/IROS.2015.7353597

Eprint:
URL:

BibTex

@inproceedings{7353597,
  title = {Millimeter-scale magnetic swimmers using elastomeric undulations},
  author = {Zhang, J. and Diller, E.},
  journal = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {1706-1711},
  month = sep,
  year = {2015},
  eprint = {  },
  url = {  },
  month_numeric = {9}
}