Local Controllability of the Two-Link Magneto-Elastic Micro-Swimmer
Optimization and Control
2017-07-04 v2
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.
Keywords
Cite
@article{arxiv.1506.05918,
title = {Local Controllability of the Two-Link Magneto-Elastic Micro-Swimmer},
author = {Laetitia Giraldi and Jean-Baptiste Pomet},
journal= {arXiv preprint arXiv:1506.05918},
year = {2017}
}