Local Controllability of the Two-Link Magneto-Elastic Micro-Swimmer

TL;DR

This paper analyzes the local controllability of a two-link magneto-elastic micro-swimmer controlled by an external magnetic field, demonstrating the ability to steer the swimmer near its straight configuration.

Contribution

It provides a mathematical proof of local controllability for a simplified planar micro-swimmer model with elastic joint and magnetic control.

Findings

Established local controllability around the straight position

Mathematically modeled the magneto-elastic micro-swimmer

Proved controllability using analytical methods

Abstract

A recent promising technique for robotic micro-swimmers is to endow them with a magnetization and apply an external magnetic field to provoke their deformation. In this note we consider a simple planar micro-swimmer model made of two magnetized segments connected by an elastic joint, controlled via a magnetic field. After recalling the analytical model, we establish a local controllability result around the straight position of the swimmer.