High-Bandwidth 3-D Multitrap Actuation Technique for 6-DoF Real-Time Control of Optical Robots - Archive ouverte HAL Access content directly
Journal Articles IEEE Robotics and Automation Letters Year : 2019

High-Bandwidth 3-D Multitrap Actuation Technique for 6-DoF Real-Time Control of Optical Robots

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Abstract

Optical robots are micro-scale structures actuated using laser trapping techniques. However, the lack of robust and real-time 3D actuation techniques reduces most applications to planar space. We present here a new approach to generate and control several optical traps synchronously in 3D with low latency and high bandwidth (up to 200 Hz). This time-shared technique uses only mirrors, hence is aberration-free. Simultaneous traps are used to actuate optical robots and provide 6-DoF telemanipulation. Experiments demonstrate the flexibility and dexterity of the implemented user control, paving the way to novel applications in micro-robotics and biology.
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Dates and versions

hal-02016632 , version 1 (12-02-2019)

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Edison Gerena, Stéphane Régnier, Sinan Haliyo. High-Bandwidth 3-D Multitrap Actuation Technique for 6-DoF Real-Time Control of Optical Robots. IEEE Robotics and Automation Letters, 2019, 4 (2), pp.647-654. ⟨10.1109/lra.2019.2892393⟩. ⟨hal-02016632⟩
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