Path following of magnetic soft film microrobots报告人:
Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences.
Tiantian Xu received the M.S. degree in Industrial Engineering from the Ecole Centrale Paris, France, the Engineer degree (∼M.S. degree) in Mechanic from Supmeca, France, in 2010, and the Ph.D. degree at the Institute of Intelligent Systems and Robotics (ISIR), University of Pierre and Marie Curie, Paris, France, in 2014. She worked for the Chinese University of Hong Kong as a postdoctoral fellow from 2014 to 2016. She is currently working in the Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, China. Her research interests are currently focused on design and control of magnetic actuated microswimmers. She has published 11 IEEE Trans as first or corresponding author, including TRO, TMECH, TASE, and etc. She has received the NSFC excellent young scholar.
Untethered, wirelessly controlled microrobots have a broad application prospects for the bioengineering due to their small scales. Rigid microrobots may damage the objects that they manipulate. Therefore, microswimmers made of soft materials, which are more adaptive in confined or complex environments, are still lack of control investigations. Main challenges in closed-loop control remain to be overcome for the soft robots to reach the accuracy and repeatability in applications. We have proposed a closed-loop control method of soft swimming microrobots for three-dimensional arbitrary path following by visual servoing, where the path curve is divided into a series of line segments. Different complicated paths drawn by users through a 3-D mouse without the input of parametric equations are followed by swimming robots during experiments. The control method with friendly user interaction and good performance is able to be integrated easily into any generic purposely non-holonomic robots.