Kim, Jinsoo Kim, Seung-Jong 2024-01-19T12:08:31Z 2024-01-19T12:08:31Z 2022-03-07 2014 1050-4729 https://pubs.kist.re.kr/handle/201004/115380 This paper presents a novel motion control method of a micro-robot for biomedical applications. The proposed micro-robot is composed of a permanent magnet with oblique magnetization, and the electromagnetic actuation (EMA) system consists of only two pairs of Helmholtz coils arranged at a right angle on a horizontal plane. While conventional systems generally use the magnetic field gradient for the propulsion, the proposed system uses only a uniform magnetic field. By virtue of these strategies, we can make the system smaller and reduce the power consumption compared to the pre-existing EMA systems. To verify the feasibility of the proposed system, basic experiments and trajectory tracking were performed under different environments. English IEEE A Novel Two-dimensional Locomotion Scheme of a Micro-robot with Only a Uniform Magnetic Field Conference 1 IEEE International Conference on Robotics and Automation (ICRA), pp.2071 - 2076 IEEE International Conference on Robotics and Automation (ICRA) 2071 2076 US Hong Kong, PEOPLES R CHINA 2014-05-31 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 000377221102012 2-s2.0-84929176088 Proceedings Paper