10 citations · 12 across the 11 of their papers we have counts for
11 papers
Residual RL-MPC for Robust Microrobotic Cell Pushing Under Time-Varying Flow
Yanda Yang, Sambeeta Das
Contact-rich micromanipulation in microfluidic flow is challenging because small disturbances can break pushing contact and induce large lateral drift. We study planar cell pushing…
MicroPush: A Lightweight Simulator for Sim-to-Real Microrobotic Pushing and Assembly
Yanda Yang, Sambeeta Das, Zion Lee
Developing learning-based autonomy for microrobotic manipulation is difficult because physical trials are slow, variable, and poorly suited to large-scale training. We present Micr…
MicroRoboScope: A Portable and Integrated Mechatronic Platform for Magnetic and Acoustic Microrobotic Experimentation
Max Sokolich, Yanda Yang, Subrahmanyam Cherukumilli +2
This paper presents MicroRoboScope, a portable, compact, and versatile microrobotic experimentation platform designed for real-time, closed-loop control of both magnetic and acoust…
Real-time autonomous magnetic microrobot navigation across dynamic and biologically relevant environments
Yanda Yang, Max Sokolich, Fatma Ceren Kirmizitas +3
Autonomous microrobots could enable minimally invasive interventions in confined biological environments, but their operation requires real-time navigation among moving obstacles a…
Autonomous Vision-Based Magnetic Microrobotic Pushing of Micro-Objects and Cells
Max Sokolich, Ceren Kirmizitas, Sambeeta Das +1
Accurate and autonomous transportation of micro-objects and biological cells can enable significant advances in a wide variety of research disciplines. Here, we present a novel, vi…
Model Predictive Control for Magnetically-Actuated Cellbots
Mehdi Kermanshah, Logan E. Beaver, Max Sokolich +5
This paper presents a control framework for magnetically actuated cellbots, which combines Model Predictive Control (MPC) with Gaussian Processes (GPs) as a disturbance estimator f…
Learning a Tracking Controller for Rolling bots
Logan E Beaver, Max Sokolich, Suhail Alsalehi +3
Micron-scale robots (bots) have recently shown great promise for emerging medical applications. Accurate controlling bots, while critical to their successful deployment, is c…
Closed-loop Control of Catalytic Janus Microrobots
Max Sokolich, David Rivas, Zameer Hussain Shah +1
We report a closed-loop control system for paramagnetic catalytically self-propelled Janus microrobots. We achieve this control by employing electromagnetic coils that direct the m…
ModMag: A Modular Magnetic Micro-Robotic Manipulation Device
Max Sokolich, David Rivas, Markos Duey +2
Electromagnetic systems have been used extensively for the control magnetically actuated objects, such as in microrheology and microrobotics research. Therefore, optimizing the des…
Dynamics and Control of Bubble-Propelled Microrobots
David P. Rivas, Max Sokolich, Harrison Muller +1
Having the advantage of being relatively fast and powerful, as well as readily fabricated, spherical bubble-propelled microrobots are particularly well suited for applications such…
A First-Order Approach to Model Simultaneous Control of Multiple Microrobots
Logan E. Beaver, Sambeeta Das, Andreas A. Malikopoulos
The control of swarm systems is relatively well understood for simple robotic platforms at the macro scale. However, there are still several unanswered questions about how similar…