Maneuver at Micro Scale: Steering by Actuation Frequency Control in Micro Bristle Robots

Hao, Zhijian; Kim, DeaGyu; Mohazab, Ali Reza; Ansari, Azadeh

doi:10.1109/icra40945.2020.9196694

Cited by 14 publications

(6 citation statements)

References 16 publications

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“…4. The bristles are oriented to give the robot a preferred direction of motion (linear or even curved [9]) when actuated by vertical vibrations of either the robot body or the surface the robot stands on [8]. Moreover, the direction of motion can be controlled and even reversed by changing the actuation mode (vibration amplitude and frequency) [10].…”

Section: B Outline Of Practical Realizationmentioning

confidence: 99%

“…In this contribution, we propose a framework that entirely reverts this tendency -a self-assembled structure increases its stability with increasing size. We provide a theoretical justification of the framework, outline its practical realization using bristle-bots, e.g., [8], [9], [10], and employ physicsbased simulations to compare chessboard patterns obtained by a common approach of shaking in the horizontal plane and the proposed self-stabilizing approach.…”

Section: Introductionmentioning

confidence: 99%

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Self-Stabilizing Self-Assembly

Jílek¹,

Stránská²,

Somr³

et al. 2022

Preprint

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The emerging field of passive macro-scale tilebased self-assembly (TBSA) holds promise for enabling effective manufacturing processes by harnessing TBSA's intrinsic parallelism. However, the current TBSA methodology still does not fulfill its potential, largely because such assemblies are typically error-prone and the size of an individual assembly is limited by a lack of mechanical stability. Moreover, the instability issue becomes worse as assemblies become larger. Here, using a novel type of tile that is carried by a bristle-bot drive, we propose a framework that reverts this tendency; i.e., as an assembly grows, it becomes more stable. Using physicsbased computational experiments, we show that a system of such tiles indeed possesses self-stabilizing characteristics and enables building assemblies containing hundreds of tiles. These results indicate that one of the main current limitations of mechanical, agitation-based TBSA approaches might be overcome by employing a swarm of free-running sensorless mobile robots, herein represented by passive tiles at the macroscopic scale.

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Section: B Outline Of Practical Realizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Self-Stabilizing Self-Assembly

Jílek¹,

Stránská²,

Somr³

et al. 2022

Preprint

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show abstract

“…Additionally, advancement in additive manufacturing led to the development of microrobots using a variety of driving and control technologies. In 2020, Hao et al developed wired asymmetrical bristle-bots with a piezoelectric actuator that controls the steering by adjusting the frequency of vibrations [16]. Global control frequency and amplitude of substrate with an electrodynamic shaker were utilized to control the swarm of micro bristle-bots by collision-induced aggregations [17].…”

Section: Introductionmentioning

confidence: 99%

MARSBot: A Bristle-Bot Microrobot with Augmented Reality Steering Control for Wireless Structural Health Monitoring

Fath,

Liu,

Xia

et al. 2024

Micromachines

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Microrobots are effective for monitoring infrastructure in narrow spaces. However, they have limited computing power, and most of them are not wireless and stable enough for accessing infrastructure in difficult-to-reach areas. In this paper, we describe the fabrication of a microrobot with bristle-bot locomotion using a novel centrifugal yaw-steering control scheme. The microrobot operates in a network consisting of an augmented reality headset and an access point to monitor infrastructures using augmented reality (AR) haptic controllers for human–robot collaboration. For the development of the microrobot, the dynamics of bristle-bots in several conditions were studied, and multiple additive manufacturing processes were investigated to develop the most suitable prototype for structural health monitoring. Using the proposed network, visual data are sent in real time to a hub connected to an AR headset upon request, which can be utilized by the operator to monitor and make decisions in the field. This allows the operators wearing an AR headset to inspect the exterior of a structure with their eyes, while controlling the surveying robot to monitor the interior side of the structure.

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“…The fabrication of miniature sub-gram robots is a remarkable feat, where different fabrication technologies and actuation techniques have demonstrated encouraging results [4][5][6][7]. Alternatively, 3D printing is a promising approach that allows for the manufacture of 3D objects by successive layer-by-layer deposition with high resolution and flexibility in geometry and materials [8][9][10][11]. When dealing with miniature robots, the minimum feature size of the 3D printing technique is a major determinant of the accuracy of the design.…”

Section: Introductionmentioning

confidence: 99%

“…A step further is to steer the robot. Recent reports have shown the turning of milli-sized robots by only tuning the frequency of actuation of the device [11,16]. More complex steering techniques rely on individual control of the legs [17,18] or a differential-drive approach by independent control of each side of the robot [19][20][21].…”

Section: Introductionmentioning

confidence: 99%

3D-Printed Miniature Robots with Piezoelectric Actuation for Locomotion and Steering Maneuverability Applications

et al. 2021

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The miniaturization of robots with locomotion abilities is a challenge of significant technological impact in many applications where large-scale robots have physical or cost restrictions. Access to hostile environments, improving microfabrication processes, or advanced instrumentation are examples of their potential use. Here, we propose a miniature 20 mm long sub-gram robot with piezoelectric actuation whose direction of motion can be controlled. A differential drive approach was implemented in an H-shaped 3D-printed motor platform featuring two plate resonators linked at their center, with built-in legs. The locomotion was driven by the generation of standing waves on each plate by means of piezoelectric patches excited with burst signals. The control of the motion trajectory of the robot, either translation or rotation, was attained by adjusting the parameters of the actuation signals such as the applied voltage, the number of applied cycles, or the driving frequency. The robot demonstrated locomotion in bidirectional straight paths as long as 65 mm at 2 mm/s speed with a voltage amplitude of only 10 V, and forward and backward precise steps as low as 1 µm. The spinning of the robot could be controlled with turns as low as 0.013 deg. and angular speeds as high as 3 deg./s under the same conditions. The proposed device was able to describe complex trajectories of more than 160 mm, while carrying 70 times its own weight.

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Maneuver at Micro Scale: Steering by Actuation Frequency Control in Micro Bristle Robots

Cited by 14 publications

References 16 publications

Self-Stabilizing Self-Assembly

Self-Stabilizing Self-Assembly

MARSBot: A Bristle-Bot Microrobot with Augmented Reality Steering Control for Wireless Structural Health Monitoring

3D-Printed Miniature Robots with Piezoelectric Actuation for Locomotion and Steering Maneuverability Applications

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