A finite state machine for controlling untethered scratch-drive micro-robot

Author

Dumsong, Eakkasit ; Afzulpurkar, Nitin ; Tuantranont, Adisorn ; Punyasai, Chumnarn

Author_Institution

Sch. of Eng. & Technol., Asian Inst. of Technol., Pathumthani

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

257

Lastpage

262

Abstract

This paper describes finite state machine (FSM) to model the operation of novel untethered scratch drive micro-robot. Micro-robot consists of three scratch drive actuators (SDA) and two steering arms with dimension of 365 m times 78 m fabricated monolithically by commercially available PolyMUMPs process and deposited with dielectric layer in the post process. The micro-robot brain is programmed by FSM models with seven state machines and a set of ten voltage levels to control the movement of micro-robot in forward, reverse, left and right direction. The entire motion of micro-robot is controlled by delivering power via capacitive coupling with underlying electric grid, to the micro-robot.

Keywords

finite state machines; microactuators; micromachining; microrobots; PolyMUMPs process; capacitive coupling; dielectric layer; finite state machine; scratch drive actuator; untethered microrobot control; Actuators; Automata; Automatic voltage control; Control systems; Electric variables control; Lighting control; Micromechanical devices; Radio control; Size control; Weight control; Finite State Machine; MEMS; Micro-robot; Scratch Drive Actuator;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4913013

Filename

4913013