Title :
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
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;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on
Print_ISBN :
0-7803-9355-4
DOI :
10.1109/CIRA.2005.1554266
