000055464 001__ 55464
000055464 005__ 20190812204845.0
000055464 037__ $$aCONF
000055464 245__ $$aMICRON: Small Autonomous Robot for Cell Manipulation Applications
000055464 269__ $$a2005
000055464 260__ $$c2005
000055464 336__ $$aConference Papers
000055464 520__ $$aManipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approaches, which become highly relevant to fight scaling effects. This paper describes work currently being carried out which aims to make automated manipulation of micrometer-scaled objects possible by robots with nanometer precision. The goal is to establish a small cluster of (up to five) micro robots equipped with on-board electronics, sensors and wireless power supply. Power autonomy has been reached using inductive energy transmission from an external wireless power supply system or a battery based system. Electronics requirements are fulfilled in the electronic module with the full custom integrated circuit design for the robot locomotion control and the closed loop force control for AFM tool in cell manipulation applications. The maximum velocity obtained is about 0.4 mm/s with a saw tooth voltage signals of 20Vpp and 2500 Hz. In order to keep a AFM tool on micro-robot a specific tip with integrated piezoresistance, instead of the classical laser beam methodology, is validated for force measurement.
000055464 6531_ $$a[HPR-MR]
000055464 6531_ $$arobotics
000055464 6531_ $$amicroengineering
000055464 6531_ $$amicro robotics
000055464 6531_ $$amobile micro robot
000055464 6531_ $$aAFM
000055464 6531_ $$aonboard electronics
000055464 6531_ $$auntethered micro robot
000055464 700__ $$aBrufau, J.
000055464 700__ $$aPuig-Vidal, M.
000055464 700__ $$aLópez-Sánchez, J.
000055464 700__ $$aSamitier, J.
000055464 700__ $$aDriesen, W.
000055464 700__ $$0241133$$g104634$$aBreguet, J.-M.
000055464 700__ $$aSnis, N.
000055464 700__ $$aSimu, U.
000055464 700__ $$aJohansson, S.
000055464 700__ $$aGao, J.
000055464 700__ $$aVelten, T.
000055464 700__ $$aSeyfried, J.
000055464 700__ $$aEstaña, R.
000055464 700__ $$aWoern, H.
000055464 7112_ $$dApril 18-22, 2005$$cBarcelona, Spain$$a2005 IEEE International Conference on Robotics and Automation (ICRA 2005)
000055464 773__ $$tProceedings of the 2005 IEEE International Conference on Robotics and Automation
000055464 8564_ $$zn/a$$uhttps://infoscience.epfl.ch/record/55464/files/ICRA%2705_MICRON.pdf$$s619765
000055464 909C0 $$pLSRO$$0252016
000055464 909CO $$pSTI$$ooai:infoscience.tind.io:55464$$qGLOBAL_SET$$pconf
000055464 937__ $$aLSRO2-CONF-2005-010
000055464 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000055464 980__ $$aCONF