Collectives of spinning mobile microrobots for navigation and object manipulation at the air-water interface

Wendong Wang, Vimal Kishore, Lyndon Koens, Eric Lauga, Metin Sitti

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution

2 Citations (Scopus)

Abstract

We use multiple spinning micro-rafts at the air-water interface as mobile microrobot collectives and present here their collective behaviors, including navigating around anchored obstacles, and trapping and transporting floating objects. The 3D-printed micro-rafts are circular disKS of 100 μm in diameter and have parametrically defined undulating edge profile. The study of their local interactions, manifested by the pairwise interactions between micro-rafts, reveals competing magnetic and capillary interactions that keep the collectives in their dynamic state. Using collectives of 7, 19, and 36 micro-rafts and micro-channels between millimeter-sized posts, we demonstrate the effects of the size of the collectives, the size of the obstacles, and maneuver strategies on the collective navigation. Employing methods from information theory, we show that the pairwise mutual information of the collectives increases significantly during the channel-crossing as a result of the additional constraints of the channel walls on the collectives. Finally, we demonstrate the trapping of 1-mm-diameter polystyrene bead and the trapping and transporting of 600μm-wide pm.

Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Subtitle of host publicationtowards a robotic society
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages6186-6192
Number of pages7
ISBN (Electronic)9781538680940
ISBN (Print)9781538680957
DOIs
Publication statusPublished - 27 Dec 2018
Externally publishedYes
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: 1 Oct 20185 Oct 2018

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period1/10/185/10/18

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  • Cite this

    Wang, W., Kishore, V., Koens, L., Lauga, E., & Sitti, M. (2018). Collectives of spinning mobile microrobots for navigation and object manipulation at the air-water interface. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018: towards a robotic society (pp. 6186-6192). [8593519] Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/IROS.2018.8593519