Fig. 5: Dynamic moving behavior analysis and environment perception of millirobot crawling on various terrain surfaces.
From: Magnetic soft millirobot with simultaneous locomotion and sensing capability
a Schematic of the millirobot crawling over various terrains. The enlarged views are SEM images of different terrain surfaces. b Signal responses when the millirobot robot crawling on sandpaper, wood, plastic, printed PLA plate and napkin, respectively. c Flow diagram of the machine learning process. Schematics of the process and parameters for data collection and processing, and convolutional neural network structure construction. d The confusion map for machine learning outcome of 5 various objects. Mixed recognition of all the aforementioned environments, with an overall accuracy of 96.7%.
