In this paper, we described a new type of multi-DOF manipulator using a structure with three artificial muscle (IPMC) segments. We develop the kinematic modeling of multilink motions for the control of the manipulator using a transposed Jacobian or an inverse Jacobian using as sensors elements of motions was realized by IPMC film too, because was used the special actuator-sensor segment (IPMC f...

The need for autonomous agents working in unknown or rapidly changing environments showed the shortcomings of conventional robot control. Another problem is the large number of theories, how robots can work, especially in microrobotic environments. Programming these working-cells should be standardised for helping us being more effective. We have already created a general programming language f...

In this paper, we propose a novel high-speed microrobotic system toward swimming-microorganism capturing and sensing in a microfluidic chip. This system consists of high-speed on-chip microrobots as robotic hands with a maximum speed of 10 Hz to handle a microorganism and a high-speed on-line vision sensor as a robotic eye with maximum speed of 2000 frames/s to track the trajectory of microorga...

This work presents a preoperative microrobotic surgical simulation and planning application. The main contribution is to support computer-aided minimally invasive surgery (MIS) procedure using untethered microrobots that have to navigate within the arterial networks. We first propose a fast interactive application (with endovascular tissues) able to simulate the blood flow and microrobot intera...

This paper describes a walking microrobot with 512 thermobimorph polyimide actuator legs. Eight groups of unidirectional legs can be separately controlled to produce planar motion with three degrees of freedom. Wave-like gaits propel the robot at speeds of up to 250 μm/sec while consuming approximately 1.6W power. Finite element methods are employed to investigate the force generation and the t...

It is challenging for microrobots to fly using onboard energy due the relatively heavy power supplies and inefficient actuators that are limited a small size (mass less than 1000 mg wingspan 100 mm). Inspired by movement of jellyfish in nature (Physophora hydrostatica), herein, microscale aerial vehicle FlyJelly introduced, powered achieve untethered flight. uses balloon filled with helium over...

The optoelectronic microrobot is an advanced light-controlled micromanipulation technology which has particular promise for collecting and transporting sensitive microscopic objects such as biological cells. However, wider application of the currently limited by a reliance on manual control lack methods simultaneous manipulation multiple microrobotic actuators. In this letter, we present comput...

Micromanipulation and micro-assembly represent a field of technology that is gaining more and more importance. Performing microoperations manually with special tools like tweezers is very time intensive and exhausting. The precision of the human hand is also very limited. Therefore, it is of great interest to automate such processes. At the University of Karlsruhe, a microrobot with piezoelectr...