Title :
Flexible micro manipulation platform based on tethered cm/sup 3/-sized mobile micro robots
Author :
Driesen, Walter ; Varidel, Thierry ; Mazerolle, Sebastien ; Bergander, Arvid ; Breguet, Jean-Marc
Author_Institution :
Lab. de Syst. Robotiques, Ecole Polytech. Fed. de Lausanne
Abstract :
This paper presents a micro manipulation platform based on several cm3-sized mobile micro robots. The proposed platform consists of a high resolution XY stage with the mobile micro robots on top of it, a camera with a microscopic objective for the local view and a second camera for the overview and tracking of the robots. The concept of such a manipulation platform is discussed and the realized platform is described into detail. Two applications of AFM measurements with an onboard AFM-tool and micro manipulation by adhesion, realized with a similar setup, are discussed
Keywords :
atomic force microscopy; image sensors; microrobots; mobile robots; path planning; AFM measurements; camera; flexible micro manipulation platform; robot tracking; tethered cm3-sized mobile micro robots; CMOS image sensors; Cameras; Glass; Hydraulic actuators; Microscopy; Mobile robots; Position measurement; Robot vision systems; Steel; Universal Serial Bus;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246253
