磁驱动微型机器人的智能控制发展现状

Advances in Intelligent Control of Magnetically Actuated Micro-robots

低强度磁场无线驱动的微型机器人可以在狭小空间中运动并完成复杂作业任务,如靶向给药、微操作及环境检测等。本文旨在总结磁驱动微型机器人的智能控制发展现状,主要包括智能控制方法在以下方面的应用:从刚性结构到柔性结构的磁驱动微型机器人,从单一运动模态到多种运动模态的磁驱动微型机器人,从开环控制到闭环控制的磁驱动微型机器人,从单个个体到单个群体再到多个个体的磁驱动微型机器人。最后,展望了磁驱动微型机器人的未来发展方向,包括更大空间的磁驱动装置,更多运动模态的微型机器人,软体结构的医疗微型机器人,微型机器人自主导航和多个磁驱动微型机器人的控制。

Micro-robots wirelessly actuated by low-intensity electromagnetic fields can move in narrow environment and complete complex tasks,such as targeted drug delivery,micromanipulation,and environment detection.This paper introduces the advances of intelligent control of magnetically actuated micro-robots,mainly including the applications of intelligent control methods to the following areas:from rigid structure to flexible structure of magnetically actuated micro-robots,from single motion mode to multiple motion modes of magnetically actuated micro-robots,from open-loop control to closed-loop control of magnetically actuated micro-robots,from single individual and single swarm to multiple individuals of magnetically actuated micro-robots.Finally,the future development directions of magnetically actuated micro-robots are expected,including magnetic drives for larger workspace,micro-robots with more motion modes,medical micro-robots with flexible structures,autonomous navigation of micro-robots,and control of multiple magnetically actuated micro-robots.