Title:	Collective planar actuation of miniature magnetic robots towards individual robot operation
Authors:	Kuthan, Jiří Juřík, Martin Vítek, Martin Mach, František
Citation:	KUTHAN, J., JUŘÍK, M., VÍTEK, M., MACH, F. Collective planar actuation of miniature magnetic robots towards individual robot operation. In: Proceedings of MARSS 2020 : International Conference on Manipulation, Automation, and Robotics at Small Scales. Piscataway: IEEE, 2020. s. 1-6. ISBN 978-1-72819-349-6.
Issue Date:	2020
Publisher:	IEEE
Document type:	konferenční příspěvek conferenceObject
URI:	http://hdl.handle.net/11025/42571
ISBN:	978-1-72819-349-6
Keywords in different language:	magnetic minirobots;planar actuation;parallel actuation;coplanar coils
Abstract in different language:	Magnetic actuation technique for the collective operation of untethered miniature robots by uniform control input is presented. The technique allows us to actuate multiple robots simultaneously and enables us to prohibit the actuation of selected ones while others are still operated. Non-actuation of selected robots is achieved in the area, where the global magnetic field generated by coplanar coils is locally disrupted. The position of the area in the space can be changed with a discrete step and it allows us to operate multiple robots at the same time dynamically. The proposed technique is studied by numerical simulations and experimental verification on a laboratory prototype of the system.
Rights:	© IEEE
Appears in Collections:	Konferenční příspěvky / Conference papers (RICE) Konferenční příspěvky / Conference Papers (KEP) OBD

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