Tele-manipulation by adhesion of micro objects

Author

Haliyo, Dogan Sinan ; Venture, Gentiane ; Régnier, Stéphane

Author_Institution

Lab. de Robotique de Paris, Univ. Paris VI, France

fYear

2005

fDate

27-30 June 2005

Firstpage

133

Lastpage

138

Abstract

The micromanipulation system developed in Laboratoire de Robotique de Paris (LRP) is described in this paper. This system, called [mu]MAD, is based on the use of adhesion forces and inertial effects for handling of objects which range from 1 to 100 μm. Moreover, enhanced user interaction is provided through a 6 dof haptic interface for force feedback remote handling. Some advanced features of [mu]MAD such as mechanical characterizations and sorting are also presented.

Keywords

force control; haptic interfaces; micromanipulators; telerobotics; 1 to 100 micron; [mu]MAD; adhesion forces; force feedback remote handling; force servoing; haptic coupling; haptic interface; mechanical characterizations; mechanical sorting; micro-object adhesion; micromanipulation system; nanomanipulation; telemanipulation; vision servoing; Adhesives; Electrostatics; Force control; Force feedback; Gravity; Grippers; Haptic interfaces; Robots; Rough surfaces; Surface roughness; Micro/nano manipulation; adhesion forces; force and vision servoing; haptic coupling;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on

Print_ISBN

0-7803-9355-4

Type

conf

DOI

10.1109/CIRA.2005.1554266

Filename

1554266