Novel Motion Modes for 2-D Locomotion of a Microrobot

摘要

This paper proposes novel motion modes for a microrobot which enable several driving options during its 2-D locomotion. The robot motion based on conventional methods shows stick-slip phenomena which produce imprecise jerking movement. We solved the imprecise control problem by using the concept of kinetic friction force. Furthermore, we introduced several motion modes that can generate smooth motion under different environments and presented the pros and cons of each motion mode. A motion mode is properly selected depending on the environment or application purpose, and it can exhibit high performance in the execution of the task. The proposed method using a suitable mode of operation of the microrobot has the potential to be applied in various medical fields.