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Communication Dans Un Congrès Année : 2014

Vision-Based Force Sensing of a Magnetic Microrobot in a Viscous Flow

Résumé

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.
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Dates et versions

hal-01070673 , version 1 (02-10-2014)

Identifiants

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Karim Belharet, David Folio, Antoine Ferreira. Vision-Based Force Sensing of a Magnetic Microrobot in a Viscous Flow. IEEE International Conference on Robotics and Automation (ICRA'2014), May 2014, Hong Kong, China, France. pp.2065-2070, ⟨10.1109/ICRA.2014.6907133⟩. ⟨hal-01070673⟩
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