Skip to Main content Skip to Navigation
Journal articles

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

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.
Document type :
Journal articles
Complete list of metadata

Cited literature [44 references]  Display  Hide  Download

https://hal.sorbonne-universite.fr/hal-02016632
Contributor : Hal Sorbonne Université Gestionnaire Connect in order to contact the contributor
Submitted on : Tuesday, February 12, 2019 - 6:04:19 PM
Last modification on : Tuesday, November 16, 2021 - 5:25:31 AM
Long-term archiving on: : Monday, May 13, 2019 - 4:00:59 PM

File

RAL_2019_Draft_rc2.shrink.pdf
Files produced by the author(s)

Identifiers

Citation

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, IEEE 2019, 4 (2), pp.647-654. ⟨10.1109/lra.2019.2892393⟩. ⟨hal-02016632⟩

Share

Metrics

Record views

129

Files downloads

259