Positioning of a miniature robot using position sensitive detectors

Many miniature robots with various types of sensors and actuators have been developed. We propose the positioning of a miniature robot using position sensitive devices (PSDs), since the position resolution of the PSD is superior to other positioning sensors and its dimension is suitable for the miniature robot. We install the PSD on the miniature robot actuated by piezoelectric elements and electromagnets, and we measure the linear displacement of the miniature robot.