An Automated Platform for Microrobot Manipulation

Jan Vrba ^[1] ; Charlie Maslen ^[1] ; Ivan Rehor ^[1] ^[2] ; Jan Mares ^[1]
1. [1] University of Chemistry and Technology
  
  University of Chemistry and Technology
  
  Chequia
2. [2] Institute of Organic Chemistry and Biochemistry
  
  Institute of Organic Chemistry and Biochemistry
  
  Chequia
Localización: 15th International Conference on Soft Computing Models in Industrial and Environmental Applications (SOCO 2020): Burgos, Spain ; September 2020 / coord. por Álvaro Herrero Cosío, Carlos Cambra Baseca, Daniel Urda Muñoz, Javier Sedano Franco, Héctor Quintián Pardo, Emilio Santiago Corchado Rodríguez, 2021, ISBN 978-3-030-57802-2, págs. 255-265
Idioma: inglés
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Resumen
- This paper presents hydrogel microrobots (100 μm) that are directed to specific locations in their environment by an automated platform. The microrobots are actuated by focused laser light and crawl in aqueous environments. The platform consists of a stage, manipulated by stepper drivers and controlled by a Raspberry PI 4. This positions the laser light in the desired locations to move microrobots towards a goal location. The microrobot localisation is done via a microscope camera and repetitive usage of a template matching algorithm. Instead of a path planning algorithm, the optimal position for the laser is chosen before every step so that the disk reaches the goal as fast as possible.