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Asynchronous event-based visual shape tracking for stable haptic feedback in microrobotics. - Descarga este documento en PDF. Documentación en PDF para descargar gratis. Disponible también para leer online.

1 ISIR - Institut des Systèmes Intelligents et de Robotique 2 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies 3 Institut de la Vision

Abstract : Micromanipulation systems have recently received increasing interest. Teleoperated or automated micromanipulation are a challenging issue because of the need of high-frequency position or force feedback to guarantee stability. In addition, the integration of sensors in the micromanipulation platforms is complex. Vision is thus a commonly used solution for sensing; unfortunately the update rate of frame-based acquisition process of current available cameras cannot ensure -at reasonable costs-stable automated or teleoperated control at the microscale level where low inertia induces highly unreachable dynamic phenomena. This paper presents a novel vision-based microrobotic system combining both an asynchronous Address Event Representation AER silicon retina and a conventional frame-based camera. Unlike frame-based cameras, recent artificial retinas transmit their outputs as a continuous stream of asynchronous temporal events, in a manner similar to the output cells of the biological retina enabling high update rates. The paper introduces an Event-based Iterative Closest Point algorithm able to track a microgripper-s position at a frequency of 4 kHz. The temporal precision of the asynchronous silicon retina is used to provide a haptic feedback to assist users during manipulation tasks, whereas the framebased camera is used to retrieve the position of the object that must be manipulated. Experiments on teleoperating spheres of 30 - 50 m of diameter using a piezoelectric gripper in a pick-and-place task are presented.





Autor: Zhenjiang Ni - Aude Bolopion - Joël Agnus - Ryad Benosman - Stéphane Régnier -

Fuente: https://hal.archives-ouvertes.fr/



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