Independent control of two millimeter-scale soft-bodied magnetic robotic swimmers

摘要: We present a method to independently control two millimeter-scale soft-bodied magnetic swimmers, with nominal dimensions of 1.5 × 4.9 0.06 mm. A swimmer's speed depends on its relative angle the actuation field. The swimmers under have different directions net moments, and assume distinct orientations in one global With this fixed heading difference between field forms angles swimmers. By manipulating these angles, can exhibit speeds. Theoretically, any ratios be achieved In practice, relatively accurate ratio obtained when both nonzero speeds swimmer is no more than twice as fast other. Adding over strength field, obtain independent within certain range. Two feedback controllers are proposed such arrive at points (positioning) move along paths (path following). Type I Sequential Controller manipulates their respective goals sequence, while II Parallel moves simultaneously. Experiments presented which controlled pass series form letters “UT”.