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.
关键词
磁驱动/磁性微型机器人/磁性软体微型机器人/闭环控制/路径规划
Key words
magnetic actuation/magnetic micro-robot/magnetic soft micro-robot/closed-loop control/path planning
维普
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