Multiple magnetic microrobot control using electrostatic anchoring

Addressing power and control to individual untethered microrobots is a challenge for small-scale robotics. We present a 250x130x100 mu m(3) magnetic robot wirelessly driven by pulsed external magnetic fields. An induced stick-slip motion results in translation speeds over 8 mm/s. Control of multiple robots is achieved by an array of addressable electrostatic anchoring pads on the surface, which selectively fixes microrobots, preventing translation. We demonstrate control of two microrobots in both uncoupled individual motion and coupled symmetric motion. An estimated anchoring force of 23.0 mu N is necessary to effectively fix each microrobot.