TY - JOUR
T1 - Adaptive Pattern and Motion Control of Magnetic Microrobotic Swarms
AU - Yu, Jiangfan
AU - Yang, Lidong
AU - Du, Xingzhou
AU - Chen, Hui
AU - Xu, Tiantian
AU - Zhang, Li
N1 - Funding:
This work was supported in part by the Hong Kong University
Grants Committee (RGC) under JLFS Project JLFS/E- 402/18, in part by the Hong Kong Innovation and Technology Commission (ITC) under Midstream Research Programme for Universities under ProjectMRP/036/18X, in part by the Croucher Foundation Grant with a Ref. No. CAS20403, and in part by the CUHK Internal grants. The work of Tiantian Xu and Li Zhang was supported in part by the CAS SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems, in part by the start-up funding of CUHK, Shenzhen under Project UDF01001929, in part by National Natural Science Foundation of China Project 62103347, and in
part by the Shenzhen Institute of Artificial Intelligence and Robotics for Society under its internal grants Project AC01202101017 and Project AC01202101018.
Publisher Copyright:
© 2022 IEEE.
PY - 2022/6
Y1 - 2022/6
N2 - Reconfigurable microrobotic swarms and controllable active matter systems have drawn extensive attention recently. Developing effective actuation strategies and control schemes that enable embodied intelligence of microscopic swarms are both major challenges. In this work, we realize the generation of an elliptical paramagnetic nanoparticle swarm (EPNS) with enhanced dexterity for adaptive locomotion, and subsequently a fuzzy control strategy is developed for automatically tuning pattern deformation, orientation, and position of the swarm. By adjusting the input field, the aspect ratio of the EPNS will change accordingly, and we demonstrate its adaptive navigation through curved and narrowed channel by performing pattern reconfigurations. Moreover, using the proposed control strategy, precise matches can be reached between the controlled swarms and the desired patterns. Finally, to show the high compatibility of the control strategy, we employ ribbon-like colloidal swarms driven by oscillating magnetic field, and the results also validate the effectiveness of the strategy.
AB - Reconfigurable microrobotic swarms and controllable active matter systems have drawn extensive attention recently. Developing effective actuation strategies and control schemes that enable embodied intelligence of microscopic swarms are both major challenges. In this work, we realize the generation of an elliptical paramagnetic nanoparticle swarm (EPNS) with enhanced dexterity for adaptive locomotion, and subsequently a fuzzy control strategy is developed for automatically tuning pattern deformation, orientation, and position of the swarm. By adjusting the input field, the aspect ratio of the EPNS will change accordingly, and we demonstrate its adaptive navigation through curved and narrowed channel by performing pattern reconfigurations. Moreover, using the proposed control strategy, precise matches can be reached between the controlled swarms and the desired patterns. Finally, to show the high compatibility of the control strategy, we employ ribbon-like colloidal swarms driven by oscillating magnetic field, and the results also validate the effectiveness of the strategy.
KW - Microrobotics
KW - swarm control
KW - untethered small-scale robotics
UR - http://www.scopus.com/inward/record.url?scp=85121832276&partnerID=8YFLogxK
U2 - 10.1109/TRO.2021.3130432
DO - 10.1109/TRO.2021.3130432
M3 - Journal article
AN - SCOPUS:85121832276
SN - 1552-3098
VL - 38
SP - 1552
EP - 1570
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 3
ER -