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Related Experiment Video

Updated: Feb 2, 2026

Multiple-mouse Neuroanatomical Magnetic Resonance Imaging

Multiple-mouse Neuroanatomical Magnetic Resonance Imaging

Published on: February 27, 2011

Towards Independent Control of Multiple Magnetic Mobile Microrobots.

Sagar Chowdhury¹, Wuming Jing², David J Cappelleri³

¹Multiscale Robotics and Automation Laboratory, School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA. sagar353@purdue.edu.

|November 9, 2018

Summary

This study presents a novel method for controlling multiple microrobots independently using magnetic fields. Experimental validation confirms the successful autonomous navigation of these micro-robots.

Keywords:

magnetic microrobots mobile microrobots path planning

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Area of Science:

Robotics
Control Systems
Biomedical Engineering

Background:

Microrobots offer potential for minimally invasive procedures.
Precise control of multiple microrobots remains a challenge.

Purpose of the Study:

To develop and experimentally validate an approach for independent autonomous navigation of multiple microrobots using magnetic fields.

Main Methods:

Developed a heuristic-based planning algorithm for collision-free trajectories.
Modeled microrobot dynamics to create a navigation controller.
Implemented an optimization routine for electromagnetic coil control.
Simulated a 64-microcoil electromagnetic system.
Prototyped and tested an mm-scale system.

Main Results:

Successfully generated collision-free trajectories for microrobot navigation.
Developed a controller for precise force generation.
Optimized electromagnetic coil inputs for required forces.
Experimental results validated the autonomous navigation approach.

Conclusions:

The developed approach enables independent autonomous navigation of multiple microrobots.
The system is suitable for simultaneous independent actuation.
Experimental validation confirms the efficacy of the magnetic field-based control method.