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Gait learning for soft microrobots controlled by light fields [article]

Alexander von Rohr, Sebastian Trimpe, Alonso Marco, Peer Fischer, Stefano Palagi
2018 arXiv   pre-print
Soft microrobots based on photoresponsive materials and controlled by light fields can generate a variety of different gaits.  ...  Here we propose a probabilistic learning approach for light-controlled soft microrobots based on Bayesian Optimization (BO) and Gaussian Processes (GPs).  ...  Wiersma for providing the LCE samples for the microrobots.  ... 
arXiv:1809.03225v1 fatcat:5pvkr4736fcylogweqppvrom74

Light‐Controlled Micromotors and Soft Microrobots

Stefano Palagi, Dhruv P. Singh, Peer Fischer
2019 Advanced Optical Materials  
Keywords: micromotors, soft microrobots, light-based control, photoresponsive materials Mobile microscale devices and microrobots can be powered by catalytic reactions (chemical micromotors) or by external  ...  In addition, structuring the light field is a new means to drive soft microrobots that are based on (photo-) responsive polymers.  ...  Wiersma for useful discussions on the topics reviewed in this report. The authors also thank Ahmed Mourran for providing Fig. 6(e) .  ... 
doi:10.1002/adom.201900370 fatcat:zmd2wyeoi5fcpiv2gtp5gsr5fq

Light‐Powered Microrobots: Challenges and Opportunities for Hard and Soft Responsive Microswimmers

Ada‐Ioana Bunea, Daniele Martella, Sara Nocentini, Camilla Parmeggiani, Rafael Taboryski, Diederik S. Wiersma
2021 Advanced Intelligent Systems  
Reproduced under the terms of the CC-BY license. [128] opyright 2019, The Authors, published by Wiley-VCH GmbH. E) LCN-based swimmer microrobots.  ...  D) (Left) Superimposed images of a spiral rotor under irradiation for 0.5 s and relaxation for 0.5 s and (right) superimposition of the thresholded outline of the rotor at different times.  ...  We believe that, in addition to exploiting knowledge from both the hard and soft light-controlled microrobot development tracks, rapid progress in the field could be achieved by synergistically exploiting  ... 
doi:10.1002/aisy.202000256 fatcat:6eckp3ynjzavnjjgyjrepbr7l4

Structured light enables biomimetic swimming and versatile locomotion of photoresponsive soft microrobots

Stefano Palagi, Andrew G. Mark, Shang Yik Reigh, Kai Melde, Tian Qiu, Hao Zeng, Camilla Parmeggiani, Daniele Martella, Alberto Sanchez-Castillo, Nadia Kapernaum, Frank Giesselmann, Diederik S. Wiersma (+2 others)
2016 Nature Materials  
Here, by taking advantage of the wireless, scalable and spatiotemporally selective capabilities that light allows, we show that soft microrobots consisting of photoactive liquid-crystal elastomers can  ...  The principle of using structured light can be extended to other applications that require microscale actuation with sophisticated spatiotemporal coordination for advanced microrobotic technologies.  ...  S.P. acknowledges support by the Max Planck ETH Center for Learning Systems. We thank A. Posada for help with the movies and figures.  ... 
doi:10.1038/nmat4569 pmid:26878315 fatcat:tvpojshdzvcapeyijscvctsnbq

A Review of Microrobot's System: Towards System Integration for Autonomous Actuation In Vivo

Zhongyi Li, Chunyang Li, Lixin Dong, Jing Zhao
2021 Micromachines  
Microrobots have received great attention due to their great potential in the biomedical field, and there has been extraordinary progress on them in many respects, making it possible to use them in vivo  ...  However, the most important question is how to get microrobots to a given position accurately.  ...  The advantage of light field actuation is that the light field is highly spatially selective and can control multiple microrobots independently at the same time [38] . Nagai et al.  ... 
doi:10.3390/mi12101249 pmid:34683300 fatcat:qdsariwsq5cyrcuv5k4cwqxigi

On‐Board Mechanical Control Systems for Untethered Microrobots

Amit Dolev, Murat Kaynak, Mahmut Selman Sakar
2021 Advanced Intelligent Systems  
Recent advances in macroscale soft robotics and mechanical metamaterials are highlighted with the hope that they inspire solutions for microrobotics.  ...  Following the analogy of the central nervous system for the architecture of conventional autonomous robots, the next-generation microrobots are expected to possess reflexes that would allow them to autonomously  ...  Early research in the field focused primarily on providing power to untethered micromachines for controlled motion.  ... 
doi:10.1002/aisy.202000233 fatcat:jcnb32as3nbnhixkp2jhuqrywe

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA April 2019 692-699 Lighting Distinguishing Refracted Features Using Light Field Cameras With Application to Structure From Motion.  ...  Wu, Z., +, LRA Oct. 2019 3545-3552 Inchworm-Inspired Soft Robot With Light-Actuated Locomotion. Pre-Charged Pneumatic Soft Gripper With Closed-Loop Control.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

2020 Index IEEE Transactions on Robotics Vol. 36

2020 IEEE Transactions on robotics  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  ., +, TRO Feb. 2020 240-253 ads Orbiting Two-Tailed Soft Microrobot.  ... 
doi:10.1109/tro.2021.3050417 fatcat:gzwbyhjzhbdnrdp6prpokofstu

Toward a living soft microrobot through optogenetic locomotion control of Caenorhabditis elegans

Xianke Dong, Sina Kheiri, Yangning Lu, Zhaoyi Xu, Mei Zhen, Xinyu Liu
2021 Science Robotics  
Learning from the locomotion of natural organisms is one of the most effective strategies for designing microrobots.  ...  Here, we propose an approach to engineering the genetic and nervous systems of a nematode worm, Caenorhabditis elegans, and creating an untethered, highly controllable living soft microrobot (called "RoboWorm  ...  In the meanwhile, this dichroic allows the transmission of bright-field NIR lights to be imaged by the microscope camera.  ... 
doi:10.1126/scirobotics.abe3950 pmid:34193562 fatcat:inrz4pl2yjg2vmk2od5utvxlue

Table of Contents

2019 IEEE Robotics and Automation Letters  
Lenzi 1186 Vision-Based Online Learning Kinematic Control for Soft Robots Using Local Gaussian Process Regression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . G. Fang, X.  ...  Rossiter 1641 Inchworm-Inspired Soft Robot With Light-Actuated Locomotion . . . . . . . . . . . . . . . . . . . . . . . . . Y. Yang, D. Li, and Y.  ... 
doi:10.1109/lra.2019.2910670 fatcat:tkeo6fc4zrczfjfxivpmrrkajy

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  ., +, Based Gait Planning With Learning-Based Torque Estimation and Control for Exoskeletons.  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu

2021 Index IEEE Transactions on Robotics Vol. 37

2021 IEEE Transactions on robotics  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  ., +, TRO Feb. 2021 67-81 Magnetic fields Design of Multi-Degrees-of-Freedom Microrobots Driven by Homogeneous Quasi-Static Magnetic Fields.  ... 
doi:10.1109/tro.2022.3141270 fatcat:wbcpmrap6ndprec2gtu7m2yhmy

A decade retrospective of medical robotics research from 2010 to 2020

Pierre E. Dupont, Bradley J. Nelson, Michael Goldfarb, Blake Hannaford, Arianna Menciassi, Marcia K. O'Malley, Nabil Simaan, Pietro Valdastri, Guang-Zhong Yang
2021 Science Robotics  
Funding: Partial support for P.E.D. was provided by the NIH under grants R01NS099207 and R01HL124020. Partial support for B.J.N. was provided by the Swiss National Science Foundation through grant  ...  Mencattelli for assistance with the figures and references. We also thank Y. Guo and Z. Zhang for preparing Figs. 1 and 4 .  ...  Although methods for LLE control for nonambulatory individuals became established during the decade, e.g., (32) , the field has yet to fully establish corresponding best practices for providing gait assistance  ... 
doi:10.1126/scirobotics.abi8017 pmid:34757801 pmcid:PMC8890492 fatcat:surntht2b5azpgrptjweq5bpn4

Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

Metin Sitti, Arianna Menciassi, Auke Jan Ijspeert, Kin Huat Low, Sangbae Kim
2013 IEEE/ASME transactions on mechatronics  
This paper first reports a brief survey of recent studies on bioinspired mechatronic systems and their biological counterparts in respects of locomotion, actuation, sensing, and control.  ...  The sensor is light enough to be mounted on a very light (68 mg) microrobot with flapping wings. The bio-inspired sensor and control algorithm were successfully used to control altitude online.  ...  Their control method is inspired by the biological concept of muscle synergies which is a useful way of reducing the dimensionality of the control and learning problem.  ... 
doi:10.1109/tmech.2012.2233492 fatcat:fdi73scdcjh5bmklmwmv4y6kyu

Table of Contents

2022 IEEE Robotics and Automation Letters  
Wang Combined Magnetic Field Decoupling and Disturbance Rejection Control of Microrobots Based on Extended State Observer .  ...  Learning Free Gait Transition for Quadruped Robots Via Phase-Guided Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2022.3165102 fatcat:enjzebowe5hn7hsfwklc7nieuy
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