Evaluation and Suppression of Overrun of Microorganisms using Dynamics Model for Microrobotic Application

Our goal is to utilize living microorganisms as smart, autonomous microrobots. In previous work, we constructed a dynamics model of Paramecium cells for navigation using galvanotaxis (locomotion response to an applied electric field). In this paper, an overrun phenomenon, which affects the control performance, is evaluated using the proposed dynamics model, and it is found that the turning trajectory is independent of the individual ciliary forces. A trapping experiment based on this model is performed and better performance is achieved. This is an important step toward our eventual goal of using living cells as autonomous microrobots.

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