MicroPush: A Simulator and Benchmark for Contact-Rich Cell Pushing and Assembly with a Magnetic Rolling Microrobot
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.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Do Rigid-Body Simulators Dream of Soft Robots? Learning Contact-Rich Manipulation for Tendon-Driven Continuum Robots
Learning contact-rich, whole-body manipulation for soft continuum robots is held back by the lack of simulation infrastructure that has accelerated rigid-robot manipulation. Existing soft robot simulators are physically …
Robot ManipulationContact-Aware Neural Dynamics
High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Expli…
DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact
Cloth simulation has wide applications in computer animation, garment design, and robot-assisted dressing. This work presents a differentiable cloth simulator whose additional gradient information facilitates cloth-relat…
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesis tools assume. Contact smoothing approx…
Contact-rich ManipulationEfficient Differentiable Contact Model with Long-range Influence
With the maturation of differentiable physics, its role in various downstream applications: such as model predictive control, robotic design optimization, and neural PDE solvers, has become increasingly important. Howeve…
Computational Efficiency