4 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 Simulator and Benchmark for Contact-Rich Cell Pushing and Assembly with a Magnetic Rolling Microrobot
Yanda Yang, Sambeeta Das
Magnetic rolling microrobots enable gentle manipulation in confined microfluidic environments, yet autonomy for contact-rich behaviors such as cell pushing and multi-target assembl…
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…
Microrobot Vascular Parkour: Analytic Geometry-based Path Planning with Real-time Dynamic Obstacle Avoidance
Yanda Yang, Max Sokolich, Fatma Ceren Kirmizitas +2
Autonomous microrobots in blood vessels could enable minimally invasive therapies, but navigation is challenged by dense, moving obstacles. We propose a real-time path planning fra…