Local Controllability of the Two-Link Magneto-Elastic Micro-Swimmer

Laetitia Giraldi 1, 2, 3 Jean-Baptiste Pomet 3, 1, 2
1 LJAD
JAD - Laboratoire Jean Alexandre Dieudonné
3 McTAO - Mathematics for Control, Transport and Applications
CRISAM - Inria Sophia Antipolis - Méditerranée
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.
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Laetitia Giraldi, Jean-Baptiste Pomet. Local Controllability of the Two-Link Magneto-Elastic Micro-Swimmer. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2017, 62, pp.2512-2518. ⟨10.1109/TAC.2016.2600158⟩. ⟨hal-01145537v2⟩

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