Pub Date : 2017-12-13DOI: 10.1109/IROS.2017.8206125
L. Lindenroth, C. Duriez, Junghwan Back, K. Rhode, Hongbin Liu
Knowledge of externally applied forces is crucial for compliant robotic manipulators in minimally-invasive and endoluminal robotic surgery for both patient safety and controllability of the device. We developed a novel continuum manipulator which comprises hydraulic actuation. In this work we investigate the use of the hydrostatic pressure feedback inside the inflatable actuation chambers to determine the normal and shear forces which are applied to the tip of the robot. For that purpose a nonlinear finite element model is derived and experimentally validated, showing a good approximation between experiment and simulation. The model is then used to derive descriptions for the normal and shear forces applied to the robot tip. The normal force estimation shows good results over the range of experimentally validated tip angles, while the shear force estimation shows good results for small tip deflection angles with an increasing error, with the tip orientation. The algorithm indicates good applicability to force control tasks as the forces are fast to compute.
{"title":"Intrinsic force sensing capabilities in compliant robots comprising hydraulic actuation","authors":"L. Lindenroth, C. Duriez, Junghwan Back, K. Rhode, Hongbin Liu","doi":"10.1109/IROS.2017.8206125","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206125","url":null,"abstract":"Knowledge of externally applied forces is crucial for compliant robotic manipulators in minimally-invasive and endoluminal robotic surgery for both patient safety and controllability of the device. We developed a novel continuum manipulator which comprises hydraulic actuation. In this work we investigate the use of the hydrostatic pressure feedback inside the inflatable actuation chambers to determine the normal and shear forces which are applied to the tip of the robot. For that purpose a nonlinear finite element model is derived and experimentally validated, showing a good approximation between experiment and simulation. The model is then used to derive descriptions for the normal and shear forces applied to the robot tip. The normal force estimation shows good results over the range of experimentally validated tip angles, while the shear force estimation shows good results for small tip deflection angles with an increasing error, with the tip orientation. The algorithm indicates good applicability to force control tasks as the forces are fast to compute.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"26 1","pages":"2923-2928"},"PeriodicalIF":0.0,"publicationDate":"2017-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88358572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-12-13DOI: 10.1109/IROS.2017.8206327
E. Barrett, Mark Reiling, G. Barbieri, M. Fumagalli, R. Carloni
This paper presents the mechatronic design of a robotic arm that is mounted on a ground rover and used to deploy and recover small-scale unmanned aerial vehicles. The arm and rover are part of a network of collaborative robotic agents aiming to enhance current rescue operations by supporting human operators without burdening them with servicing tasks. The robust autonomy of the system, guaranteed in part through the addition of this robotic arm, is a main contributing factor. Design requirements are derived from the context of the rescue mission and a kinematic analysis is provided that leads to a customized design, including variable stiffness joints for compliant interaction with the environment. Experiments demonstrate the system's ability to perform the required Cartesian trajectory control and manipulation tasks, and to achieve a desired variable end-effector compliance.
{"title":"Mechatronic design of a variable stiffness robotic arm","authors":"E. Barrett, Mark Reiling, G. Barbieri, M. Fumagalli, R. Carloni","doi":"10.1109/IROS.2017.8206327","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206327","url":null,"abstract":"This paper presents the mechatronic design of a robotic arm that is mounted on a ground rover and used to deploy and recover small-scale unmanned aerial vehicles. The arm and rover are part of a network of collaborative robotic agents aiming to enhance current rescue operations by supporting human operators without burdening them with servicing tasks. The robust autonomy of the system, guaranteed in part through the addition of this robotic arm, is a main contributing factor. Design requirements are derived from the context of the rescue mission and a kinematic analysis is provided that leads to a customized design, including variable stiffness joints for compliant interaction with the environment. Experiments demonstrate the system's ability to perform the required Cartesian trajectory control and manipulation tasks, and to achieve a desired variable end-effector compliance.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"07 1","pages":"4582-4588"},"PeriodicalIF":0.0,"publicationDate":"2017-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80566082","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-12-13DOI: 10.1109/IROS.2017.8206277
T. Furukawa, Changkoo Kang, Boren Li, G. Dissanayake
This paper presents a generalized multi-stage Bayesian approach for an unmanned aerial vehicle to estimate the location of a mobile target. The major hardware components of the proposed approach are a camera with a fisheye lens and another camera with a normal lens and a pan/tilt unit. With wide angle of view (AOV), the fisheye lens camera first detects the bearing of the target, and the PT camera next captures the target in its AOV. The recursive Bayesian estimation steadily locates the target in a globally defined space. The paper also proposes a multi-stage detection method for the fisheye lens camera. The level of confidence is defined in association with the probability of detection (POD) for each detection technique, and the fisheye lens enables continuous detection by gradually increasing the POD. The observation likelihood is finally derived from the POD in a generalized manner. The proposed approach was applied to the detection of a mobile target by a multi-rotor helicopter, and results have demonstrated the effectiveness of both the proposed multi-stage Bayesian approach and multi-stage fisheye lens detection method.
{"title":"Multi-stage Bayesian target estimation by UAV using fisheye lens camera and pan/tilt camera","authors":"T. Furukawa, Changkoo Kang, Boren Li, G. Dissanayake","doi":"10.1109/IROS.2017.8206277","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206277","url":null,"abstract":"This paper presents a generalized multi-stage Bayesian approach for an unmanned aerial vehicle to estimate the location of a mobile target. The major hardware components of the proposed approach are a camera with a fisheye lens and another camera with a normal lens and a pan/tilt unit. With wide angle of view (AOV), the fisheye lens camera first detects the bearing of the target, and the PT camera next captures the target in its AOV. The recursive Bayesian estimation steadily locates the target in a globally defined space. The paper also proposes a multi-stage detection method for the fisheye lens camera. The level of confidence is defined in association with the probability of detection (POD) for each detection technique, and the fisheye lens enables continuous detection by gradually increasing the POD. The observation likelihood is finally derived from the POD in a generalized manner. The proposed approach was applied to the detection of a mobile target by a multi-rotor helicopter, and results have demonstrated the effectiveness of both the proposed multi-stage Bayesian approach and multi-stage fisheye lens detection method.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"91 1","pages":"4167-4172"},"PeriodicalIF":0.0,"publicationDate":"2017-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79963898","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-12-13DOI: 10.1109/IROS.2017.8206436
K. Hashimoto, T. Matsuzawa, Tomotaka Teramachi, K. Uryu, Xiao Sun, Shinya Hamamoto, Ayanori Koizumi, A. Takanishi
This paper describes a novel four-limbed robot having high mobility capability in extreme environments. At disaster sites, there are various types of environments where a robot must move such as rough terrain with possibility of collapse, narrow places, stairs, vertical ladders and so forth. In this paper, first we categorized extreme environments based on three indexes: unevenness, narrowness, and inclination. To move in such extreme environments, we proposed a four-limbed robot having various locomotion styles such as bipedal/quadrupedal walking, crawling and ladder climbing. The main contribution of this paper is the concept and hardware design of the four-limbed robot. We developed a prototype of the four-limbed robot having commonly structured limbs. The number of DoF for the whole body is 29, with 7-DoFs in each limb and 1-DoF in the trunk. The robot weight is 110 kg, and the height is 1,290 mm when standing on two legs. The end-effector has hook-like shape. Verification of the prototype robot is conducted through simulations and experiments.
{"title":"A four-limbed disaster-response robot having high mobility capabilities in extreme environments","authors":"K. Hashimoto, T. Matsuzawa, Tomotaka Teramachi, K. Uryu, Xiao Sun, Shinya Hamamoto, Ayanori Koizumi, A. Takanishi","doi":"10.1109/IROS.2017.8206436","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206436","url":null,"abstract":"This paper describes a novel four-limbed robot having high mobility capability in extreme environments. At disaster sites, there are various types of environments where a robot must move such as rough terrain with possibility of collapse, narrow places, stairs, vertical ladders and so forth. In this paper, first we categorized extreme environments based on three indexes: unevenness, narrowness, and inclination. To move in such extreme environments, we proposed a four-limbed robot having various locomotion styles such as bipedal/quadrupedal walking, crawling and ladder climbing. The main contribution of this paper is the concept and hardware design of the four-limbed robot. We developed a prototype of the four-limbed robot having commonly structured limbs. The number of DoF for the whole body is 29, with 7-DoFs in each limb and 1-DoF in the trunk. The robot weight is 110 kg, and the height is 1,290 mm when standing on two legs. The end-effector has hook-like shape. Verification of the prototype robot is conducted through simulations and experiments.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"6 1","pages":"5398-5405"},"PeriodicalIF":0.0,"publicationDate":"2017-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84635464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-12-13DOI: 10.1109/IROS.2017.8202181
Yuta Horikawa, Asuka Egashira, Kazuto Nakashima, A. Kawamura, R. Kurazume
This paper presents a near-future perception system named “Previewed Reality”. The system consists of an informationally structured environment (ISE), an immersive VR display, a stereo camera, an optical tracking system, and a dynamic simulator. In an ISE, a number of sensors are embedded, and information such as the position of furniture, objects, humans, and robots, is sensed and stored in a database. The position and orientation of the immersive VR display are also tracked by an optical tracking system. Therefore, we can forecast the next possible events using a dynamic simulator and synthesize virtual images of what users will see in the near future from their own viewpoint. The synthesized images, overlaid on a real scene by using augmented reality technology, are presented to the user. The proposed system can allow a human and a robot to coexist more safely by showing possible hazardous situations to the human intuitively in advance.
{"title":"Previewed reality: Near-future perception system","authors":"Yuta Horikawa, Asuka Egashira, Kazuto Nakashima, A. Kawamura, R. Kurazume","doi":"10.1109/IROS.2017.8202181","DOIUrl":"https://doi.org/10.1109/IROS.2017.8202181","url":null,"abstract":"This paper presents a near-future perception system named “Previewed Reality”. The system consists of an informationally structured environment (ISE), an immersive VR display, a stereo camera, an optical tracking system, and a dynamic simulator. In an ISE, a number of sensors are embedded, and information such as the position of furniture, objects, humans, and robots, is sensed and stored in a database. The position and orientation of the immersive VR display are also tracked by an optical tracking system. Therefore, we can forecast the next possible events using a dynamic simulator and synthesize virtual images of what users will see in the near future from their own viewpoint. The synthesized images, overlaid on a real scene by using augmented reality technology, are presented to the user. The proposed system can allow a human and a robot to coexist more safely by showing possible hazardous situations to the human intuitively in advance.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"86 1","pages":"370-375"},"PeriodicalIF":0.0,"publicationDate":"2017-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76336514","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-12-13DOI: 10.1109/IROS.2017.8206053
Chang Li, Qing Shi, Kang Li, Mingjie Zou, H. Ishii, A. Takanishi, Qiang Huang, T. Fukuda
The interaction test between a robotic rat and living rat is considered as a possible way to quantitatively characterize the rat sociality. In such robot-rat interactions, the robot should be designed to fully replicate a real rat in terms of morphological and behavioral characteristics. To address this problem, a multi-jointed robot prototype has been modified based on our previous work. We optimally update the forelimb of the robot and redesign the control board to make it more dexterous and increase its behavioral capability. Then, we systematically and kinematically analyze the rotational range of joint variables and the workspace of the robot by using traversal method. To evaluate the motion capability of the modified robot, we propose two quantitative parameters: maximum reachable height (MRH) and minimum bendable distance (MBD). Additionally, we achieve to quantitatively evaluate the behavioral similarity between the robot and rat with the calculated accumulative distance (AD) by using dynamic time warping (DTW). These evaluated methods show high promise to improve the robot-rat interaction to be more similar to rat-rat interaction.
{"title":"Motion evaluation of a modified multi-link robotic rat","authors":"Chang Li, Qing Shi, Kang Li, Mingjie Zou, H. Ishii, A. Takanishi, Qiang Huang, T. Fukuda","doi":"10.1109/IROS.2017.8206053","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206053","url":null,"abstract":"The interaction test between a robotic rat and living rat is considered as a possible way to quantitatively characterize the rat sociality. In such robot-rat interactions, the robot should be designed to fully replicate a real rat in terms of morphological and behavioral characteristics. To address this problem, a multi-jointed robot prototype has been modified based on our previous work. We optimally update the forelimb of the robot and redesign the control board to make it more dexterous and increase its behavioral capability. Then, we systematically and kinematically analyze the rotational range of joint variables and the workspace of the robot by using traversal method. To evaluate the motion capability of the modified robot, we propose two quantitative parameters: maximum reachable height (MRH) and minimum bendable distance (MBD). Additionally, we achieve to quantitatively evaluate the behavioral similarity between the robot and rat with the calculated accumulative distance (AD) by using dynamic time warping (DTW). These evaluated methods show high promise to improve the robot-rat interaction to be more similar to rat-rat interaction.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"40 1","pages":"2397-2402"},"PeriodicalIF":0.0,"publicationDate":"2017-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86428448","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-12-13DOI: 10.1109/IROS.2017.8206237
A. Santos, Alcino Cunha, Nuno Macedo, Rafael Arrais, F. Santos
The Robot Operating System (ROS) is nowadays one of the most popular frameworks for developing robotic applications. To ensure the (much needed) dependability and safety of such applications we forecast an increasing demand for ROS-specific coding standards, static analyzers, and tools alike. Unfortunately, the development of such standards and tools can be hampered by ROS modularity and configurability, namely the substantial number of primitives (and respective variants) that must, in principle, be considered. To quantify the severity of this problem, we have mined a large number of existing ROS packages to understand how its primitives are used in practice, and to determine which combinations of primitives are most popular. This paper presents and discusses the results of this study, and hopefully provides some guidance for future standardization efforts and tool developers.
{"title":"Mining the usage patterns of ROS primitives","authors":"A. Santos, Alcino Cunha, Nuno Macedo, Rafael Arrais, F. Santos","doi":"10.1109/IROS.2017.8206237","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206237","url":null,"abstract":"The Robot Operating System (ROS) is nowadays one of the most popular frameworks for developing robotic applications. To ensure the (much needed) dependability and safety of such applications we forecast an increasing demand for ROS-specific coding standards, static analyzers, and tools alike. Unfortunately, the development of such standards and tools can be hampered by ROS modularity and configurability, namely the substantial number of primitives (and respective variants) that must, in principle, be considered. To quantify the severity of this problem, we have mined a large number of existing ROS packages to understand how its primitives are used in practice, and to determine which combinations of primitives are most popular. This paper presents and discusses the results of this study, and hopefully provides some guidance for future standardization efforts and tool developers.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"107 1","pages":"3855-3860"},"PeriodicalIF":0.0,"publicationDate":"2017-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74875657","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-12-11DOI: 10.1109/IROS.2017.8206476
Alexander Werner, Wojciech Turlej, C. Ott
Series-elastic and viscoelastic robots can provide performance gains in applications with high dynamics. Harnessing these, requires an understanding of the dynamics of the system, which can be gained using optimization-based methods. The result are motions which make optimal use of the intrinsic behavior, possibly exceeding the performance of an equivalent rigid-body robot. We present a collocation framework which enables both automatic computation of contact-switching patterns and allows the full utilization of the dynamics of the compliant system. The formulation also addresses the problem of redundant torque generation in viscoelastic actuators. The effectiveness of this method was demonstrated in simulations as well as experiments with a compliant bipedal robot. The approach is capable of providing gait primitives, longer gait sequences containing multiple steps as well as generating extremely dynamic motions, e.g. somersaults.
{"title":"Generation of locomotion trajectories for series elastic and viscoelastic bipedal robots","authors":"Alexander Werner, Wojciech Turlej, C. Ott","doi":"10.1109/IROS.2017.8206476","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206476","url":null,"abstract":"Series-elastic and viscoelastic robots can provide performance gains in applications with high dynamics. Harnessing these, requires an understanding of the dynamics of the system, which can be gained using optimization-based methods. The result are motions which make optimal use of the intrinsic behavior, possibly exceeding the performance of an equivalent rigid-body robot. We present a collocation framework which enables both automatic computation of contact-switching patterns and allows the full utilization of the dynamics of the compliant system. The formulation also addresses the problem of redundant torque generation in viscoelastic actuators. The effectiveness of this method was demonstrated in simulations as well as experiments with a compliant bipedal robot. The approach is capable of providing gait primitives, longer gait sequences containing multiple steps as well as generating extremely dynamic motions, e.g. somersaults.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"15 1","pages":"5853-5860"},"PeriodicalIF":0.0,"publicationDate":"2017-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86945282","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-12-07DOI: 10.1109/IROS.2017.8206036
Mikael Jorda, R. Balachandran, J. Ryu, O. Khatib
This paper extends the previously proposed Explicit Force Controller based on Time Domain Passivity Approach. When using the classical passivity observer, we encounter an energy accumulation problem: if the system stays a long time in stable contact, energy is dissipated and the passivity observer builds up a large value. This causes the passivity controller to be triggered late after the interaction becomes unstable, so we lose the advantage of the passivity controller. In order to deal with this energy accumulation issue, we propose two new passivity observers that allow us to quickly detect potential instability despite the accumulated energy. We prove the theoretical validity of these new observers. In addition, we propose a more generalized way of implementing the passivity based explicit force controller on a multi-DoF manipulator, using a model for the robot and environment that includes sensor flexibility, and a hybrid position/force controller in the operational space framework. The proposed method is experimentally tested with KUKA IIWA, and the improved performance is verified.
{"title":"New passivity observers for improved robot force control","authors":"Mikael Jorda, R. Balachandran, J. Ryu, O. Khatib","doi":"10.1109/IROS.2017.8206036","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206036","url":null,"abstract":"This paper extends the previously proposed Explicit Force Controller based on Time Domain Passivity Approach. When using the classical passivity observer, we encounter an energy accumulation problem: if the system stays a long time in stable contact, energy is dissipated and the passivity observer builds up a large value. This causes the passivity controller to be triggered late after the interaction becomes unstable, so we lose the advantage of the passivity controller. In order to deal with this energy accumulation issue, we propose two new passivity observers that allow us to quickly detect potential instability despite the accumulated energy. We prove the theoretical validity of these new observers. In addition, we propose a more generalized way of implementing the passivity based explicit force controller on a multi-DoF manipulator, using a model for the robot and environment that includes sensor flexibility, and a hybrid position/force controller in the operational space framework. The proposed method is experimentally tested with KUKA IIWA, and the improved performance is verified.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"20 1","pages":"2177-2184"},"PeriodicalIF":0.0,"publicationDate":"2017-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77737826","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/IROS.2017.8202187
R. T. Mallea, A. Bolopion, J. Beugnot, P. Lambert, M. Gauthier
This paper deals with the open-loop characterization of a micromanipulation system actuated by thermocapillary convective flows. Micrometric size objects placed at the air/liquid interface are actuated by heating the surface of the liquid using a laser. The heat generates a surface tension gradient at the interface which induces thermocapillary convective flows that are used to move the objects. In this paper, the performances of this approach are analyzed based on open-loop experiments. Several actuation strategies are proposed and discussed. The experimental results highlight the potential of this approach since velocities up to several millimeters per second are obtained. However the precision of the positioning is not ensured by open-loop actuation, so closed-loop control will be necessary in future works. As a first step towards closed-loop control, this paper proposes a model of the system. This model is based on the open-loop experimental results, but the proposed methodology can be applied to any setup that use thermocapillary convective flows for particle manipulation.
{"title":"1D manipulation of a micrometer size particle actuated via thermocapillary convective flows","authors":"R. T. Mallea, A. Bolopion, J. Beugnot, P. Lambert, M. Gauthier","doi":"10.1109/IROS.2017.8202187","DOIUrl":"https://doi.org/10.1109/IROS.2017.8202187","url":null,"abstract":"This paper deals with the open-loop characterization of a micromanipulation system actuated by thermocapillary convective flows. Micrometric size objects placed at the air/liquid interface are actuated by heating the surface of the liquid using a laser. The heat generates a surface tension gradient at the interface which induces thermocapillary convective flows that are used to move the objects. In this paper, the performances of this approach are analyzed based on open-loop experiments. Several actuation strategies are proposed and discussed. The experimental results highlight the potential of this approach since velocities up to several millimeters per second are obtained. However the precision of the positioning is not ensured by open-loop actuation, so closed-loop control will be necessary in future works. As a first step towards closed-loop control, this paper proposes a model of the system. This model is based on the open-loop experimental results, but the proposed methodology can be applied to any setup that use thermocapillary convective flows for particle manipulation.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"41 1","pages":"408-413"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83651800","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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