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arXiv · 1506.05918

Local Controllability of the Two-Link Magneto-Elastic Micro-Swimmer

Laetitia Giraldi·Jean-Baptiste Pomet
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Abstract

A recent promising technique for robotic micro-swimmers is to endow them with a magnetization and apply an external magnetic field to provoke their deformation. In this note we consider a simple planar micro-swimmer model made of two magnetized segments connected by an elastic joint, controlled via a magnetic field. After recalling the analytical model, we establish a local controllability result around the straight position of the swimmer.

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Laetitia Giraldi, Jean-Baptiste Pomet. 2016-12-06. Local Controllability of the Two-Link Magneto-Elastic Micro-Swimmer. https://doi.org/10.1109/tac.2016.2600158

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