Nonholonomy of Paramecium Cell in Galvanotactic Actuation

摘要

Our purpose is to utilize microorganisms as micro-robots by using galvanotaxis (locomotor response to electrical stimulus). In this paper, nonholonomy of a Paramecium cell in galvanotactic actuation is discussed using the dynamics model constructed in the previous paper, and it is shown that a cell is a nonholonomic system and globally controllable.