Survey on research for automatic manipulation of magnetic micro-robots
LIU Jia
XU Tian-tian
WU Xin-yu
Abstract：Micro-robots are important branch of robotics research,their characteristic lengths are in a range of hundreds nanometers to several millimeters.Micro-robots wirelessly controlled by low-intensity electromagnetic fields can swim in narrow environment and complete complex tasks.There is a wide application prospect in biomedical research such as mi-cromanipulation,targeted drug delivery,and in vivo sensing labeling.During the past decades,many important theoretical and practical methods are proposed in the structural design,micro/nano fabrication,motion planning and servo control of magnetic micro-robots.This article aims to introduce the application of automatic manipulation in magnetic micro-robots,mainly including the motion modeling,closed-loop control and path planning,and also discusses the challenges of mag-netic soft micro-robots in modeling and motion control.Finally,the future researches of magnetic micro-robots in control and planning are proposed.
Keywords：magnetic actuationmagnetic micro-robotmagnetic soft micro-robotclosed-loop controlpath planning
Publication Date：2024-04-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：14( 667-680 )