Closed-loop 3D path following of scaled-up helical microswimmers
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | Closed-loop 3D path following of scaled-up helical microswimmers |
| Type de publication | Conference Paper |
| Year of Publication | 2016 |
| Auteurs | Oulmas A, Andreff N, Regnier S |
| Editor | Okamura A, Menciassi A, Ude A, Burschka D, Lee D, Arrichiello F, Liu H, Moon H, Neira J, Sycara K, Yokoi K, Martinet P, Oh P, Valdastri P, Krovi V |
| Conference Name | 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) |
| Publisher | IEEE; IEEE Robot & Automat Soc; ABB; DJI; KUKA; Husqvarna; iRobot; Khalifa Univ; Kinova Univ; MOOG; PAL Robot; UBER; Amazon |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-1-4673-8026-3 |
| Résumé | This paper addresses the problem of 3D path following of magnetic helical microswimmers in closed-loop. An error kinematic model in a local frame with sideslip and attack angles is used to express the motion of the helical microswimmer. A new derivation of the chained form with three inputs and five states is used to linearize the kinematic model in order to design a decoupled stable control. In experimentation, the 3D path following is validated using a scaled-up magnetic helical microswimmer with visual servo control by following first a spatial straight line, then a helix trajectory and finally an inclined sinusoidal trajectory. The closed-loop control is also compared with the open-loop control to illustrate the robustness and the accuracy of both controllers to the disturbances. |