|
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)
|
Journal Code:L0318B
|
ISSN:
|
|
VOL.2006;NO.;PAGE.2P1-A26(2006)
|
| 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.) |
|
|
|
Related Articles;
|
