Robotics: Science and Systems IV

Dynamic Modeling of Stick Slip Motion in an Untethered Magnetic Micro-Robot

Steven Floyd, Chytra Pawashe, Metin Sitti

Abstract: This work presents the dynamic modeling of an untethered electromagnetically actuated magnetic micro-robot, and compares the computer simulations to experimental results. The micro-robot, which is composed of neodymium-iron-boron with dimensions 250 um x 130 um x 100 um, is actuated by a system of 5 macro-scale electromagnets. Periodic magnetic fields are created using two different control methods, which induce a stick-slip motion in the micro-robot. This dynamic behavior is modeled and simulated, and these results successfully model the behaviors observed in the real-world experimental system.

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Bibtex:

@INPROCEEDINGS{Floyd-RSS08,
    AUTHOR    = {Steven Floyd, Chytra Pawashe, Metin Sitti},
    TITLE     = {Dynamic Modeling of Stick Slip Motion in an Untethered Magnetic Micro-Robot},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems IV},
    YEAR      = {2008},
    ADDRESS   = {Zurich, Switzerland},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2008.IV.037} 
}