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Fig. 7 | Robotics and Biomimetics

Fig. 7

From: Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots

Fig. 7

Micromanipulation by grasping using open-loop actuation. a Microrobots move from the initial caging formation to grasp the micro-object. b The microrobots have grasped the micro-object. c The formation of four microrobots is attempting to move the micro-object in the x-direction, but fail due to the object’s stiction with the substrate. Microrobots 2 and 3, marked by the red arrows, move right, leaving the micro-object behind. d A clockwise twisting motion was used to ease the stiction of the micro-object. e The micro-object was manipulated along a random trajectory at various speeds. f The payload is released within the workspace by expanding the microrobot formation using open-loop actuation. The average size of Microrobots 1, 2, 3, and 4 is 191, 167, 194, and 195 μm in diameter, respectively. Scale bar: 150 μm

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