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  • Motion Control for Biohybrid Multiscale Robots 

    Authors:Tabak, Ahmet Fatih
    Publisher and Date:(IEEE, 2020)
    Complex gaits of microswimmer robotic devices could be controlled via discretized reference signals and adaptive control scheme. A biomedical micro-robotic system offers a nontrivial control problem without tactile contact or tether. Moreover, such devices can incorporate live cells to achieve biocompatibility for therapeutic applications introducing additional complexity to the system dynamics and control effort. Additionally, a coupled hybrid system of a macroscale open kinematic chain and a ...