| Accession number;06A0593714 |
| Title;Trajectory Planning of Motile Cell for Microrobotic Application |
| Author;OGAWA NAOKO(Univ. of Tokyo) OKU HIROMASA(Univ. of Tokyo) HASHIMOTO KOICHI(Tohoku Univ.) ISHIKAWA MASATOSHI(Univ. of Tokyo) |
Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu (CD-ROM)
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Journal Code:L0318B
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ISSN:
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VOL.2006;NO.;PAGE.2P1-A26(2006)
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| Figure&Table&Reference;FIG.7, REF.16 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;Our purpose is to utilize microorganisms as micro-robots by using galvanotaxis (locomotor response to electrical stimulus). In this paper, trajectory planning of a Paramecium cell is discussed. In galvanotactic navigation, a Paramecium cell is regarded as a nonholonomic system like a two-wheeled vehicle, but the system disallows switchback or pivoting. We propose a novel method for cusp-free trajectory planning by using Lyapunov method. (author abst.) |
