MicroPush为磁性微机器人提供可复现的接触操作仿真与评测平台。
MicroPush: A Simulator and Benchmark for Contact-Rich Cell Pushing and Assembly with a Magnetic Rolling Microrobot
- 基于阻尼交互模型与接触感知滑移机制，模拟复杂环境中的微机器人运动
- 在六边形组装任务中成功率达92%，受流体干扰时控制器稳定性影响最大
- 适合研究微操纵中的规划、控制与学习方法，支持算法对比与消融实验
磁性滚动微机器人可在狭小的微流控环境中实现温和操作，但对接触密集行为如细胞推移和多目标组装的自主性开发与评估仍难以复现。我们提出MicroPush，一个开源的二维杂乱场景下磁性滚动微机器人的仿真器与基准测试套件。该平台结合过阻尼相互作用模型、接触感知的粘滑效应、轻量级近场阻尼、可选的泊肃叶背景流，并校准了驱动频率与自由空间滚动速度的关系。在仿真核心之上，我们提供模块化规划-控制栈，采用两阶段策略建立接触并实现目标导向推移，配套确定性基准协议，包含固定任务、分阶段执行和统一的CSV日志记录，用于单物体运输与六边形组装任务。报告成功率、时间与跟踪指标，以及驱动变化度量 $E_{Δω}$。结果表明，在流体扰动下控制器稳定性主导性能表现，而规划器选择可通过路径点推进影响长序列命令的平滑性。MicroPush实现了微尺度接触密集操控中规划、控制与学习方法的可复现比较与消融分析。
原文摘要 · Abstract (English)
Magnetic rolling microrobots enable gentle manipulation in confined microfluidic environments, yet autonomy for contact-rich behaviors such as cell pushing and multi-target assembly remains difficult to develop and evaluate reproducibly. We present MicroPush, an open-source simulator and benchmark suite for magnetic rolling microrobots in cluttered 2D scenes. MicroPush combines an overdamped interaction model with contact-aware stick--slip effects, lightweight near-field damping, optional Poiseuille background flow, and a calibrated mapping from actuation frequency to free-space rolling speed. On top of the simulator core, we provide a modular planning--control stack with a two-phase strategy for contact establishment and goal-directed pushing, together with a deterministic benchmark protocol with fixed tasks, staged execution, and unified CSV logging for single-object transport and hexagonal assembly. We report success, time, and tracking metrics, and an actuation-variation measure $E_{Δω}$. Results show that controller stability dominates performance under flow disturbances, while planner choice can influence command smoothness over long-horizon sequences via waypoint progression. MicroPush enables reproducible comparison and ablation of planning, control, and learning methods for microscale contact-rich micromanipulation.
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