A sphericon-shaped magnetic millirobot rolling on a surface actuated by an external wobbling magnetic field

This paper proposes a novel sphericon-shaped magnetic millirobot (SSMM) that can roll on a variety of surfaces. The SSMM comprises four identical half cones with a cylindrical magnet inserted into the geometric center. It can roll forward or backward on a surface with repeated rolling cone motions (wobbling motions). Since a rolling SSMM develops its entire surface by means of line contact, a relatively large maximum static friction force can make the SSMM move on a surface steadily and effectively. In this work, a new type of external wobbling magnetic field (EWMF) was also derived to manipulate the SSMM’s rolling motions precisely. Then, the controlled rolling motions of prototype SSMMs under various surface conditions were demonstrated to examine the rolling ability of the proposed SSMM