Abstract
Two methods capable of up-down motion have been proposed for a fish-type microrobot. The microrobot has a permanent magnet in the propulsive mechanism and can be driven by external AC magnetic fields. One method for the up-down motion is to apply the AC magnetic field biased with the DC magnetic field. In this method, the magnetic torque acting on the magnet can change the trim of the microrobot. Another method is to change the gravity center position by moving the small weight. This paper describes the principle and performance test of two methods for the up-down motion.
