SerpenBot, a Laser Driven Locomotive Microrobot for Dry Environments using Learning Control

摘要

In this paper, we introduce the Serpenbot, a microrobot smaller than 1mm in size that is powered via laser energy and operates in dry environments. The microrobot achieves locomotion on a Si substrate by selective coupling of laser energy between its two legs. The coupling mechanism is achieved by laser beam selective irradiation of the microrobot’s body to initiate the gait. Multi-Physics Models developed in our past work are difficult to use in formulating a microrobot controller. Therefore, in this paper, the microrobot model is simplified to differential drive kinematics that approximates the robot behavior, and the model was used to formulate a neural-network learning controller that can steer the robot to desired locations on the silicon substrate. Simulations predict the robot position regulation achieved by learning of the inverse robot Jacobian. Preliminary experimental results are also presented to confirm that this steering controller will also work in practice.