Efficient Path Planning for a Microrobot Passing through Environments with Narrow Passages

Article Robotics

Efficient Path Planning in Narrow Passages for Robots With Ellipsoidal Components

Sipu Ruan et al.

Summary: This article proposes a path planning paradigm specifically designed for narrow passage problems. It utilizes a rigid-body robot encapsulated by ellipsoids to represent environmental features. This approach avoids sampling infeasible configurations and does not require traditional collision detection.

IEEE TRANSACTIONS ON ROBOTICS (2023)

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Article Automation & Control Systems

An Adaptive Rapidly-Exploring Random Tree

Binghui Li et al.

Summary: This paper introduces an adaptive RRT-Connect (ARRT-Connect) planning method, which handles narrow passage environments and retains the path planning ability of RRT algorithms in other environments.

IEEE-CAA JOURNAL OF AUTOMATICA SINICA (2022)

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Article Chemistry, Analytical

Acoustics-Actuated Microrobots

Yaxuan Xiao et al.

Summary: Acoustics-actuated microrobots, with their miniaturization, flexibility, and biocompatibility features, can operate in tiny areas unreachable by traditional bulk robots. This article provides an overview of the research and development of acoustics-actuated microrobots, including manufacturing methods and different working principles. The established applications of these microrobots are also summarized, from targeted drug delivery to microsurgery, along with current challenges and future perspectives to guide further research in this field.

MICROMACHINES (2022)

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Review Chemistry, Multidisciplinary

Adapting Mechanisms for In-Pipe Inspection Robots: A Review

Calin Rusu et al.

Summary: This paper reviews the adaptation mechanisms of wall pressed type inspection robots, which mainly involve the use of linkages, the acquisition of pressure force on the pipe wall, and the possibility of movement through inclined or vertical pipes with elbows and branches.

APPLIED SCIENCES-BASEL (2022)

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Proceedings Paper Automation & Control Systems

Stepping Motion of a Legged Microrobot Actuated Between Resonance Frequencies

Chi-Kao Ye et al.

Summary: This paper presents a method to achieve circular stepping motion by a single actuator on a microrobot leg mechanism. By adjusting the flexible hinges, the phase difference is achieved between two resonance frequencies, resulting in circular stepping motion.

2022 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) (2022)

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Review Chemistry, Analytical

A Review of Microrobot's System: Towards System Integration for Autonomous Actuation In Vivo

Zhongyi Li et al.

Summary: This paper explores key components of microrobot's autonomous actuation systems, including actuation systems, medical imaging systems, and control systems, aiming to assist with their system integration. Hardware integration involves two situations based on sharing transmitting equipment or not, taking into account interference, efficiency, microrobot's material and structure. Additionally, system integration of hybrid actuation and multimodal imaging can enhance microrobot's navigation effect.

MICROMACHINES (2021)

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Article Robotics

Untethered Origami Worm Robot with Diverse Multi-Leg Attachments and Responsive Motions under Magnetic Actuation

Manivannan Sivaperuman Kalairaj et al.

Summary: This paper introduces various cylinder origami robot designs that combine origami folding with actuation mechanisms and analyzes their abilities to move in peristaltic, rolling, and turning motions in different environments. The evaluation of robotic motion and actuation is discussed in detail.

ROBOTICS (2021)

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Proceedings Paper Automation & Control Systems