Turning performance of fish-type microrobot driven by external magnetic field

Since a microactuator including a magnet can be remotely driven by external magnetic fields, it is suitable for a mobile microrobot working in a closed space. Several attempts have been made on the microrobots for pipeline inspection and treatment inside a human body. In addition to such industrial and biomedical applications, we would like to propose a new type of magnetically driven microrobots for amusement and educational use. In order to explore the possibilities, we have developed a fish-type swimming microrobot with the order of cm. In this paper, we propose a turning control method for the microrobot by waveform patterns of applied magnetic fields.