| Micro-robots are mobile devices that operate in micro-scale environments, and have future applications, such as being used to manipulate or construct micro-devices, and being used as diagnostic and analysis tools in biological systems. Being sub-millimeter in size, micro-robots require very different approaches to fabricating, powering, and controlling them. As opposed to conventional large-scale robots, it is infeasible to integrate conventional-style motors, actuators, and power sources into micro-scale devices.;Additionally, control topics are explored such as addressing multiple Mag-muBots on a surface, which is accomplished by utilizing electrostatic forces generated by a specialized surface that selectively immobilizes individual Mag-muBots, allowing for decoupled serial locomotion of multiple Mag-muBots. Furthermore, autonomous control algorithms are developed such that the Mag-muBot can autonomously be positioned in the workspace, plan around obstacles, and efficiently manipulate micro-objects in the environment.;Finally, a micro-scale reconfigurable modular robotic system is developed, based on the Mag-muBot. The Magnetic Micro-Module (Mag-muMod) is developed, which is based on the Mag-muBot. Mag-muMods can assemble with each other, which occurs due to the natural magnetic attraction between modules. Disassembly of Mag-muMods is accomplished by applying external magnetic and electric forces; afterwards they can reassemble into an alternate configuration. Models to predict the forces during assembly and disassembly are explored, and verified with experiments.;In this work, the Magnetic Micro-Robot (Mag-muBot) is presented, which is a versatile permanent magnet-based mobile robot under 1 mm in all dimensions. External magnetic fields are employed to successfully deliver power and control to the Mag-muBot, which is mobile and can operate in both gases and liquids, and on unstructured surfaces. Its motion is achieved by oscillating magnetic fields, which induces a stick-slip walking behavior; these dynamics are modeled into a simulation that compares favorably to experiments. The mechanisms for the manipulation of micro-objects are also explored, where the Mag-muBot can directly push micro-objects by contact-manipulation, or generate fluid boundary layers to manipulate micro-objects without direct contact. Examples of micro-object manipulation are also provided, where objects from 50 mum to 900 mum are shown to be manipulated. |
