抄録
Our purpose is to utilize microorganisms as micro-robots by using galvanotaxis (locomotor response to electrical stimulus). In this paper, trajectory planning of a Paramecium cell is discussed. In galvanotactic navigation, a Paramecium cell is regarded as a nonholonomic system like a two-wheeled vehicle, but the system disallows switchback or pivoting. We propose a novel method for cusp-free trajectory planning by using Lyapunov method.
