MicroPush: A Simulator and Benchmark for Contact-Rich Cell Pushing and Assembly with a Magnetic Rolling Microrobot
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arXiv
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| Format: | Preprint |
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2026
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| _version_ | 1866912929826209792 |
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| author | Yang, Yanda Das, Sambeeta |
| author_facet | Yang, Yanda Das, Sambeeta |
| contents | Magnetic rolling microrobots enable gentle manipulation in confined microfluidic environments, yet autonomy for contact-rich behaviors such as cell pushing and multi-target assembly remains difficult to develop and evaluate reproducibly. We present MicroPush, an open-source simulator and benchmark suite for magnetic rolling microrobots in cluttered 2D scenes. MicroPush combines an overdamped interaction model with contact-aware stick--slip effects, lightweight near-field damping, optional Poiseuille background flow, and a calibrated mapping from actuation frequency to free-space rolling speed. On top of the simulator core, we provide a modular planning--control stack with a two-phase strategy for contact establishment and goal-directed pushing, together with a deterministic benchmark protocol with fixed tasks, staged execution, and unified CSV logging for single-object transport and hexagonal assembly. We report success, time, and tracking metrics, and an actuation-variation measure $E_{Δω}$. Results show that controller stability dominates performance under flow disturbances, while planner choice can influence command smoothness over long-horizon sequences via waypoint progression. MicroPush enables reproducible comparison and ablation of planning, control, and learning methods for microscale contact-rich micromanipulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_23607 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | MicroPush: A Simulator and Benchmark for Contact-Rich Cell Pushing and Assembly with a Magnetic Rolling Microrobot Yang, Yanda Das, Sambeeta Robotics Systems and Control Magnetic rolling microrobots enable gentle manipulation in confined microfluidic environments, yet autonomy for contact-rich behaviors such as cell pushing and multi-target assembly remains difficult to develop and evaluate reproducibly. We present MicroPush, an open-source simulator and benchmark suite for magnetic rolling microrobots in cluttered 2D scenes. MicroPush combines an overdamped interaction model with contact-aware stick--slip effects, lightweight near-field damping, optional Poiseuille background flow, and a calibrated mapping from actuation frequency to free-space rolling speed. On top of the simulator core, we provide a modular planning--control stack with a two-phase strategy for contact establishment and goal-directed pushing, together with a deterministic benchmark protocol with fixed tasks, staged execution, and unified CSV logging for single-object transport and hexagonal assembly. We report success, time, and tracking metrics, and an actuation-variation measure $E_{Δω}$. Results show that controller stability dominates performance under flow disturbances, while planner choice can influence command smoothness over long-horizon sequences via waypoint progression. MicroPush enables reproducible comparison and ablation of planning, control, and learning methods for microscale contact-rich micromanipulation. |
| title | MicroPush: A Simulator and Benchmark for Contact-Rich Cell Pushing and Assembly with a Magnetic Rolling Microrobot |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2602.23607 |