Analysis and Motion Control of a Centrifugal-Force Microrobotic Platform

Vartholomeos, Panagiotis; Vlachos, Kostas; Papadopoulos, Evangelos

doi:10.1109/tase.2013.2248083

Cited by 27 publications

(26 citation statements)

References 9 publications

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“…Region II is divided by the curve u (3) − (t 1 ) = −2πkμ into two subregions IIa and IIb (see Fig. 5).…”

Section: On the Motion Of A Body With A Moving Internal Mass On A Roumentioning

confidence: 99%

“…6a by intermittent lines. In subregion IIb, the inequality u (3) − (t 1 ) < −2πkμ is satisfied. In this case, the solution to Eq.…”

Section: On the Motion Of A Body With A Moving Internal Mass On A Roumentioning

confidence: 99%

“…There is a lot of published research [1][2][3][4][5][6][7][8][9][10][11][12] on applied problems of dynamics, mathematical modeling of motion and problems of designing mobile robots capable of moving on the surface by changing the position of internal masses.…”

Section: Introductionmentioning

confidence: 99%

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On the Motion of a Body with a Moving Internal Mass on a Rough Horizontal Plane

Bardin¹,

Panev²

2018

Nelin. Dinam.

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We consider a vibration-driven system which consists of a rigid body and an internal mass. The internal mass is a particle moving in a circle inside the body. The center of the circle is located at the mass center of the body and the absolute value of particle velocity is a constant. The body performs rectilinear motion on a horizontal plane, whereas the particle moves in a vertical plane. We suppose that dry friction acts between the plane and the body. We have investigated the dynamics of the above system in detail and given a full description of the body's motion for any values of its initial velocity. In particular, it is shown that there always exists a periodic mode of motion. Depending on parameter values, one of three types of this periodic mode takes place. At any initial velocity the body either enters a periodic mode during a finite time interval or it asymptotically approaches the periodic mode.

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“…Region II is divided by the curve u (3) − (t 1 ) = −2πkμ into two subregions IIa and IIb (see Fig. 5).…”

Section: On the Motion Of A Body With A Moving Internal Mass On A Roumentioning

confidence: 99%

“…6a by intermittent lines. In subregion IIb, the inequality u (3) − (t 1 ) < −2πkμ is satisfied. In this case, the solution to Eq.…”

Section: On the Motion Of A Body With A Moving Internal Mass On A Roumentioning

confidence: 99%

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On the Motion of a Body with a Moving Internal Mass on a Rough Horizontal Plane

Bardin¹,

Panev²

2018

Nelin. Dinam.

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“…[2][3][4] Other examples of millirobots include ones that are capable of pulling objects several times their body weight 5 , biologically inspired multi-legged robots, 6,7 and robots capable of deploying themselves through folding, inspired by origami. 8 They have been suggested for a variety of application areas, such as dynamic wireless sensor networks (WSNs) with mobile nodes, 9,10 micro-manufacturing with small scale robots 11 , and minimally invasive medical treatments. 12,13 Future applications also include urban [14][15][16][17][18] and wilderness [19][20][21][22][23] search and rescue, and surveillance [24][25][26][27][28][29] .…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of a millirobot for swarm studies –mROBerTO

Kim¹,

Kashino²,

Colaco³

et al. 2018

Robotica

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SUMMARYThe use of millirobots, particularly in swarm studies, would enable researchers to verify their proposed autonomous cooperative behavior algorithms under realistic conditions with a large number of agents. While multiple designs for such robots have been proposed, they, typically, require custom-made components, which make replication and manufacturing difficult, and, mostly, employ non-modular integral designs. Furthermore, these robots' proposed small sizes tend to limit sensory perception capabilities and operational time. Some have resolved few of the above issues through the use of extensions that, unfortunately, add to their size.In contribution to the pertinent field, thus, a novel millirobot with an open-source design, addressing the above concerns, is presented in this paper. Our proposed millirobot has a modular design and uses easy to source, off-the-shelf components. Themilli-robot-Toronto (mROBerTO) also includes a variety of sensors and has a 16 × 16 mm2footprint.mROBerTO's wireless communication capabilities include ANT™, Bluetooth Smart, or both simultaneously. Data-processing is handled by an ARM processor with 256 KB of flash memory. Additionally, the sensing modules allow for extending or changing the robot's perception capabilities without adding to the robot's size. For example, the swarm-sensing module, designed to facilitate swarm studies, allows for measuring proximity and bearing to neighboring robots and performing local communications.Extensive experiments, some of which are presented herein, have illustrated the capability ofmROBerTOunits for use in implementing a variety of commonly proposed swarm algorithms.

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“…Millirobots can have a range of applications, including wireless sensor networks (WSNs) [1], micro-assembly [2], medicine [3], urban search and rescue [4], wilderness search and rescue [5], [6], [7] and surveillance [8]. Centralized control of these small-scale robots, when possible, can lead to improved coordination between individual robots [9].…”

Section: Introductionmentioning

confidence: 99%

Motion Control of a Wheeled Millirobot

Drisdelle¹,

Kashino²,

Pineros³

et al. 2017

Proceedings of the 4th International Conference of Control, Dynamic Systems, and Robotics (CDSR'17)

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-This paper presents a new closed-loop control system for a novel wheeled millirobot, mROBerTO, developed at the University of Toronto. The proposed system was verified via vision-based robot-pose tracking, a centralized computer for directing movement, and a firmware PID controller. Further modification to the original robot structure, via the addition of stabilizing arms, was made to improve tracking performance. Numerous motion-control experiments were performed to evaluate the performance and robustness of the controller on the millirobot. The system presented is simple, requires little knowledge of robot's motion characteristics, and consumes limited processing capabilities. Furthermore, experimental results show that the system can provide accurate motion control for various trajectories despite the limitations that result from the small footprint of mROBerTO, 16×16×32 mm 3 .

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Analysis and Motion Control of a Centrifugal-Force Microrobotic Platform

Cited by 27 publications

References 9 publications

On the Motion of a Body with a Moving Internal Mass on a Rough Horizontal Plane

On the Motion of a Body with a Moving Internal Mass on a Rough Horizontal Plane

Design and implementation of a millirobot for swarm studies –mROBerTO

Motion Control of a Wheeled Millirobot

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