3D Robotic Control of Micro-Scale Optical Swarms at an Interface

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dc.citation.issue7
dc.citation.volume10
dc.contributor.authorCarlisle N
dc.contributor.authorNock V
dc.contributor.authorWilliams MAK
dc.contributor.authorWhitby CP
dc.contributor.authorChen JLY
dc.contributor.authorAvci E
dc.date.accessioned2025-06-11T01:17:56Z
dc.date.available2025-06-11T01:17:56Z
dc.date.issued2025-07
dc.description.abstractOptical force-induced assembly is a promising yet scarcely explored approach for developing functional tools and objects at the microscale, with a wide range of potential applications. Our previous work was the first to investigate the manipulation of these assemblies in the XY plane. Here, we expand on these techniques by systematically exploring optical trap manipulation with the addition of Z-axis control. Manipulation of the Z-axis is referred to as axial displacement and is a viable approach for actively manipulating the assembly morphology. Experiments are conducted for the first time to explore and detail the response of the assembly during active 3D trap manipulation, informing the development of an autonomous control algorithm over the 2D area of the assembly during motion. This control presents techniques to increase assembly stability or alter the area of the assembly for tasks such as passing through constrictions. This work aims to develop the control techniques required to create a unique micromanufacturing approach inspired by the Kilobot thousand-robot swarm.
dc.description.confidentialfalse
dc.edition.editionJuly 2025
dc.format.pagination6712-6719
dc.identifier.citationCarlisle N, Nock V, Williams MAK, Whitby CP, Chen JLY, Avci E. (2025). 3D Robotic Control of Micro-Scale Optical Swarms at an Interface. IEEE Robotics and Automation Letters. 10. 7. (pp. 6712-6719).
dc.identifier.doi10.1109/LRA.2025.3568304
dc.identifier.eissn2377-3766
dc.identifier.elements-typejournal-article
dc.identifier.urihttps://mro.massey.ac.nz/handle/10179/73026
dc.languageEnglish
dc.publisherIEEE
dc.publisher.urihttps://ieeexplore.ieee.org/document/10993286
dc.relation.isPartOfIEEE Robotics and Automation Letters
dc.rights(c) 2025 The Author/s
dc.rightsCC BY 4.0
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/
dc.subjectSwarm robotics
dc.subjectmicro/nano robots
dc.subjectautomation at micro-nano scales
dc.title3D Robotic Control of Micro-Scale Optical Swarms at an Interface
dc.typeJournal article
pubs.elements-id500917
pubs.organisational-groupOther
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