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Learning control of a laser-driven locomotive microrobot for dry environments

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Abstract

In this paper, we introduce the SerpenBot, a microrobot smaller than 1 mm in size, powered by laser energy, and designed to operate in dry environments. The microrobot achieves locomotion on a silicon substrate by selective coupling of laser energy between two legs that move the robot forward and steer it. The laser energy coupling mechanism is achieved by selective energy-time irradiation of the microrobot’s body and legs to initiate the gait. Complex multi-physics models developed in our past work are simplified to a differential drive kinematic model that approximates the robot behavior and is used to formulate a deep learning controller that can steer the robot to desired locations on the substrate. Simulations predict the robot position regulation achieved by deep learning of the inverse robot Jacobian. Experimental results are presented confirming that the microrobot can be automatically steered to a goal location using a simple PD controller.

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Funding

This work was supported by the EPSCOR KAMPERS #1849213 project funded by the National Science Foundation. We wish to thank the Micro Nano Technology Center staff at University of Louisville for help with cleanroom fabrication and enabling access to the SEM.

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Authors and Affiliations

  1. Louisville Automation and Robotics Research Institute, University of Louisville, Louisville, KY, USA

    Zhong Yang, Moath Alqatamin, Andriy Sherehiy, Ruoshi Zhang, Mojtaba Al Hudibi, Sri Sukanta Chowdhury, Alireza Tofangchi & Dan O. Popa

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  1. Zhong Yang
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  2. Moath Alqatamin
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  3. Andriy Sherehiy
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  4. Ruoshi Zhang
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  5. Mojtaba Al Hudibi
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  6. Sri Sukanta Chowdhury
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  7. Alireza Tofangchi
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  8. Dan O. Popa
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Contributions

Zhong Yang designed and fabricated the SerpenBot, proposed and realized motion control automation approach based on neural network, developed PID controller, conducted simulations, participated in experiments, analyzed, and processed experimental, data, and finally wrote the paper drafts.

Moath Alqatamin contributed to development of: SerpenBot PID controller, motion control part of the experimental setup, NI Labview user interface.

Andriy Sherehiy directly supervised the experimental part of the study and conducted experiments, co-designed, supervised and participated in building of experimental setup, proposed SerpenBot steering mechanism, contributed to the writing of the manuscript.

Ruoshi Zhang contributed to the microrobot's design, supervised, and participated in its fabrication process.

Mojtaba Al Hudibi conducted experiments, assisted with analysis and processing of experimental data, responsible for the handling of the microrobots.

Sri Sukanta Chowdhury contributed to the SerpenBot design, proposed SerpenBot steering mechanism, designed experimental set up.

Alireza Tofangchi, co-designed and participated in building of experimental setup, contributed to manuscript.

Dan O. Popa is a head of the Next Generations Systems laboratory and principal investigator, he is the co-author of the original concept of the laser driven microscale robot, contributed to the manuscript.

Corresponding author

Correspondence to Zhong Yang.

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Yang, Z., Alqatamin, M., Sherehiy, A. et al. Learning control of a laser-driven locomotive microrobot for dry environments. J Micro-Bio Robot 18, 101–119 (2022). https://doi.org/10.1007/s12213-023-00162-9

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  • DOI: https://doi.org/10.1007/s12213-023-00162-9

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