Informations

Type
inproceedings
Key
2014_icra_belharet
Authors
Belharet, Karim and Folio, David and Ferreira, Antoine
http://doi.org/10.1109/ICRA.2014.6907133
HAL
01070673
2014_icra_belharet.
Metrics

Abstract

In this paper we aim to characterize and validate the system's dynamic model of a magnetic microrobot navigating in viscous flow. First, the controlled magnetic forces exerted on the magnetic microrobot was calibrated, validating the magnetic model. Secondly, the external forces were characterized on-line from digital microscope measurements. Especially, unlike common approaches used with microscope where orthographic projection model were used, we have proposed to consider the weak-perspective model. Thus, the proposed vision-based force characterization allows us to retrieve the 3D translational velocities and accelerations of the magnetic microrobot viewed from a digital microscope. Experimental results in two different environments illustrate the efficiency of the proposed method

Keywords


BibTeX:

 @inproceedings{2014_icra_belharet,
  title = {Vision-Based Forces Characterization of Magnetic Microrobot in a Viscous Environment},
  author = {Belharet, Karim and Folio, David and Ferreira, Antoine},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA\'2014)},
  year = {2014},
  doi = {10.1109/ICRA.2014.6907133},
  month = may,
  pages = {2065--2070},
  address = {Hong Kong, China},
  hal = {01070673},
  ieeexplore = {6907133},
  keywords = {Microrobot, Vision-Based Force sensing, Magnetic Microrobot Navigating, Coils, Micromagnetics,Viscosity, Viscous flow}
}