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| Main Authors: | , , |
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| Format: | Preprint |
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2026
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| Online Access: | https://arxiv.org/abs/2602.19346 |
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| _version_ | 1866908848379396096 |
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| author | Oyono, Erik Garcia Lin, Jialin Zhang, Dandan |
| author_facet | Oyono, Erik Garcia Lin, Jialin Zhang, Dandan |
| contents | Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace collisions for reconfiguration, employ bulky three-dimensional electromagnetic systems, and lack robust single-module control, which limits their applicability in biomedical settings. In this work, we present a modular magnetic millirobotic platform comprising three cube-shaped modules with embedded permanent magnets, each designed for a distinct functional role: a free module that supports self-assembly and reconfiguration, a fixed module that enables flip-and-walk locomotion, and a gripper module for cargo manipulation. Locomotion and reconfiguration are actuated by programmable combinations of time-varying two-dimensional uniform and gradient magnetic field inputs. Experiments demonstrate closed-loop navigation using real-time vision feedback and A* path planning, establishing robust single-module control capabilities. Beyond locomotion, the system achieves self-assembly, multimodal transformations, and disassembly at low field strengths. Chain-to-gripper transformations succeeded in 90% of trials, while chain-to-square transformations were less consistent, underscoring the role of module geometry in reconfiguration reliability. These results establish a versatile modular robotic platform capable of multimodal behavior and robust control, suggesting a promising pathway toward scalable and adaptive task execution in confined environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_19346 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Design and Control of Modular Magnetic Millirobots for Multimodal Locomotion and Shape Reconfiguration Oyono, Erik Garcia Lin, Jialin Zhang, Dandan Robotics Systems and Control Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace collisions for reconfiguration, employ bulky three-dimensional electromagnetic systems, and lack robust single-module control, which limits their applicability in biomedical settings. In this work, we present a modular magnetic millirobotic platform comprising three cube-shaped modules with embedded permanent magnets, each designed for a distinct functional role: a free module that supports self-assembly and reconfiguration, a fixed module that enables flip-and-walk locomotion, and a gripper module for cargo manipulation. Locomotion and reconfiguration are actuated by programmable combinations of time-varying two-dimensional uniform and gradient magnetic field inputs. Experiments demonstrate closed-loop navigation using real-time vision feedback and A* path planning, establishing robust single-module control capabilities. Beyond locomotion, the system achieves self-assembly, multimodal transformations, and disassembly at low field strengths. Chain-to-gripper transformations succeeded in 90% of trials, while chain-to-square transformations were less consistent, underscoring the role of module geometry in reconfiguration reliability. These results establish a versatile modular robotic platform capable of multimodal behavior and robust control, suggesting a promising pathway toward scalable and adaptive task execution in confined environments. |
| title | Design and Control of Modular Magnetic Millirobots for Multimodal Locomotion and Shape Reconfiguration |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2602.19346 |