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 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…