Experiment-based kinematic validation of numeric modeling and simulated control of an untethered biomimetic microrobot in channel

Modeling and control of swimming untethered microrobots are important for future therapeutic medical applications. Bio-inspired propulsion methods emerge as realistic substitutes for hydrodynamic thrust generation in micro realm. Accurate modeling, power supply, and propulsion-means directly affect microrobot motility and maneuverability. In this work, motility of bacteria-like untethered helical microrobots in channels is modeled with the resistive force theory coupled with motor dynamics. Results are validated with private experiments conducted on cm-scale prototypes fully submerged in Si-oil filled glass channel. Li-Po battery is utilized as the onboard power supply. Helical tail rotation is triggered by an IR remote control. It is observed that time-averaged velocities calculated by the model agree well with experimental results. Finally, time-dependent performance of a hypothetical model-based position control scheme is simulated with upstream flow as disturbance.