Formation Techniques Used in Shape-Forming Microrobotic Systems with Multiple Microrobots: A Review.

Area of Science:

• Robotics
• Micro/Nanotechnology
• Biomedical Engineering

Background:

• Controlling multiple robots at the micro/nanoscale presents unique challenges due to fabrication limitations and controller constraints.
• Unlike macro systems, microrobotic systems require distinct approaches for coordinated control and collective behavior.
• Current microrobotic systems can form configurations as collectively actuated swarms or selectively actuated groups.

Purpose of the Study:

• To review the current state of shape formation techniques in microrobotics.
• To analyze actuation principles and control systems relevant to multi-microrobot systems.
• To highlight potential applications and future developments in microrobotic shape formation.

Main Methods:

• Review of collective formation methods including magnetic, acoustic, electric, optical, and hybrid approaches.
• Analysis of selective formation techniques such as surface anchoring, heterogeneous design, and non-uniform control input.
• Examination of actuation principles and control systems impacting microrobot development.

Main Results:

• Identified key methods for collective and selective shape formation in microrobotic systems.
• Highlighted the critical role of actuation principles and control systems in microrobot design.
• Demonstrated potential applications in the biomedical sector, including reconfigurability, self-adaptable motion, and enhanced imaging.

Conclusions:

• Shape formation in microrobotics is advancing through diverse techniques and control strategies.
• The integration of multiple microrobots offers significant potential for complex applications, particularly in biomedicine.
• Future developments will likely focus on enhanced reconfigurability, autonomous motion, and improved imaging capabilities.