FAVbot: An Autonomous Target Tracking Micro-Robot with Frequency Actuation Control
Zhijian Hao, Ashwin Lele, Yan Fang, Arijit Raychowdhury, Azadeh, Ansari

TL;DR
FAVbot is a compact, autonomous micro-robot that combines a novel frequency-controlled actuation mechanism with CNN-based vision for target tracking, enabling adaptive navigation within a tiny 3-cm form factor.
Contribution
This work introduces the first micro-robot with integrated frequency-controlled actuation and neural network vision in a 3-cm size, advancing autonomous capabilities at this scale.
Findings
Effective frequency-controlled steering via mechanical resonance
Successful object detection and target tracking in dynamic environments
Demonstration of the smallest controllable multi-directional single-actuator robot
Abstract
Robotic autonomy at centimeter scale requires compact and miniaturization-friendly actuation integrated with sensing and neural network processing assembly within a tiny form factor. Applications of such systems have witnessed significant advancements in recent years in fields such as healthcare, manufacturing, and post-disaster rescue. The system design at this scale puts stringent constraints on power consumption for both the sensory front-end and actuation back-end and the weight of the electronic assembly for robust operation. In this paper, we introduce FAVbot, the first autonomous mobile micro-robotic system integrated with a novel actuation mechanism and convolutional neural network (CNN) based computer vision - all integrated within a compact 3-cm form factor. The novel actuation mechanism utilizes mechanical resonance phenomenon to achieve frequency-controlled steering with a…
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Taxonomy
TopicsModular Robots and Swarm Intelligence · Robotic Path Planning Algorithms
