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Position control of a wheel-based miniature magnetic robot using neuro-fuzzy network

Published online by Cambridge University Press:  20 May 2022

Mobin Salehi
Nanorobotics Laboratory, Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Hossein Nejat Pishkenari*
Nanorobotics Laboratory, Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Hassan Zohoor
Department of Mechanical Engineering, Sharif University of Technology; Academician, Academy of Sciences of IR Iran, Tehran, Iran
*Corresponding author. E-mail:


Untethered small-scale robots can accomplish tasks which are not feasible by conventional macro robots. In the current research, we have designed and fabricated a miniature magnetic robot actuated by an external magnetic field. The proposed robot has two coaxial wheels and one magnetic dipole which is capable of rolling and moving on the surface by variation in the direction of magnetic field. To generate the desired magnetic field, a Helmholtz electromagnetic coil is manufactured. To steer the robot to the desired position, at first the robot dynamics is investigated, and subsequently a controller based on a neuro-fuzzy network has been designed. Finally, the proposed controller is implemented experimentally and the performance of the control system is demonstrated.

Research Article
Robotica , Volume 40 , Issue 11 , November 2022 , pp. 3895 - 3910
© The Author(s), 2022. Published by Cambridge University Press

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