Asynchronous Event-Based Visual Shape Tracking for Stable Haptic Feedback in Microrobotics
Identifieur interne : 002782 ( Main/Exploration ); précédent : 002781; suivant : 002783Asynchronous Event-Based Visual Shape Tracking for Stable Haptic Feedback in Microrobotics
Auteurs : ZHENJIANG NI [France] ; Aude Bolopion [France] ; Joël Agnus [France] ; Ryad Benosman [France] ; Stéphane Regnier [France]Source :
- IEEE transactions on robotics [ 1552-3098 ] ; 2012.
Descripteurs français
- Pascal (Inist)
- Système réactif, Vision ordinateur, Interface utilisateur, Robotique, Téléopération, Commande position, Commande force, Mise à jour, Protocole transmission, Recalage image, Pistage, Sensibilité tactile, Micromachine, Micromanipulation, Haute fréquence, Stabilité, Capteur mesure, Processus acquisition, Inertie, Ajustement modèle, Réseau neuronal, Représentation par l'adresse, Diamètre, Etude expérimentale, Rétine, ., Système neuromorphique, Nuage points.
- Wicri :
- topic : Robotique.
English descriptors
- KwdEn :
- Acquisition process, Address event representation, Computer vision, Diameter, Experimental study, Force control, High frequency, Image registration, Inertia, Measurement sensor, Micromachine, Micromanipulation, Model matching, Neural network, Neuromorphic system, Point cloud, Position control, Reactive system, Remote operation, Retina, Robotics, Stability, Tactile sensitivity, Tracking, Transmission protocol, Updating, User interface.
Abstract
Micromanipulation systems have recently been receiving increased attention. Teleoperated or automated micromanipulation is a challenging task due to the need for high-frequency position or force feedback to guarantee stability. In addition, the integration of sensors within micromanipulation platforms is complex. Vision is a commonly used solution for sensing; unfortunately, the update rate of the frame-based acquisition process of current available cameras cannot ensure-at reasonable costs-stable automated or teleoperated control at the microscale level, where low inertia produces highly unreachable dynamic phenomena. This paper presents a novel vision-based microrobotic system combining both an asynchronous address event representation silicon retina and a conventional frame-based camera. Unlike frame-based cameras, recent artificial retinas transmit their outputs as a continuous stream of asynchronous temporal events in a manner similar to the output cells of a biological retina, enabling high update rates. This paper introduces an event-based iterative closest point algorithm to track a microgripper's position at a frequency of 4 kHz. The temporal precision of the asynchronous silicon retina is used to provide a haptic feedback to assist users during manipulation tasks, whereas the frame-based camera is used to retrieve the position of the object that must be manipulated. This paper presents the results of an experiment on teleoperating a sphere of diameter around 50 μm using a piezoelectric gripper in a pick-and-place task.
Affiliations:
- France
- Bourgogne-Franche-Comté, Franche-Comté, Île-de-France
- Besançon, Paris
- Université Pierre-et-Marie-Curie
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 000063
- to stream PascalFrancis, to step Curation: 001198
- to stream PascalFrancis, to step Checkpoint: 000269
- to stream Main, to step Merge: 002810
- to stream Main, to step Curation: 002782
Le document en format XML
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sortKey="Regnier, Stephane" sort="Regnier, Stephane" uniqKey="Regnier S" first="Stéphane" last="Regnier">Stéphane Regnier</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie Curie</s1><s2>75005 Paris</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Île-de-France</region><settlement type="city">Paris</settlement></placeName><orgName type="university">Université Pierre-et-Marie-Curie</orgName></affiliation></author></analytic><series><title level="j" type="main">IEEE transactions on robotics </title><title level="j" type="abbreviated">IEEE trans. robot. </title><idno type="ISSN">1552-3098</idno><imprint><date when="2012">2012</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">IEEE transactions on robotics </title><title level="j" type="abbreviated">IEEE trans. robot. </title><idno type="ISSN">1552-3098</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Acquisition process</term><term>Address event representation</term><term>Computer vision</term><term>Diameter</term><term>Experimental study</term><term>Force control</term><term>High frequency</term><term>Image registration</term><term>Inertia</term><term>Measurement sensor</term><term>Micromachine</term><term>Micromanipulation</term><term>Model matching</term><term>Neural network</term><term>Neuromorphic system</term><term>Point cloud</term><term>Position control</term><term>Reactive system</term><term>Remote operation</term><term>Retina</term><term>Robotics</term><term>Stability</term><term>Tactile sensitivity</term><term>Tracking</term><term>Transmission protocol</term><term>Updating</term><term>User interface</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Système réactif</term><term>Vision ordinateur</term><term>Interface utilisateur</term><term>Robotique</term><term>Téléopération</term><term>Commande position</term><term>Commande force</term><term>Mise à jour</term><term>Protocole transmission</term><term>Recalage image</term><term>Pistage</term><term>Sensibilité tactile</term><term>Micromachine</term><term>Micromanipulation</term><term>Haute fréquence</term><term>Stabilité</term><term>Capteur mesure</term><term>Processus acquisition</term><term>Inertie</term><term>Ajustement modèle</term><term>Réseau neuronal</term><term>Représentation par l'adresse</term><term>Diamètre</term><term>Etude expérimentale</term><term>Rétine</term><term>.</term><term>Système neuromorphique</term><term>Nuage points</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Micromanipulation systems have recently been receiving increased attention. Teleoperated or automated micromanipulation is a challenging task due to the need for high-frequency position or force feedback to guarantee stability. In addition, the integration of sensors within micromanipulation platforms is complex. Vision is a commonly used solution for sensing; unfortunately, the update rate of the frame-based acquisition process of current available cameras cannot ensure-at reasonable costs-stable automated or teleoperated control at the microscale level, where low inertia produces highly unreachable dynamic phenomena. This paper presents a novel vision-based microrobotic system combining both an asynchronous address event representation silicon retina and a conventional frame-based camera. Unlike frame-based cameras, recent artificial retinas transmit their outputs as a continuous stream of asynchronous temporal events in a manner similar to the output cells of a biological retina, enabling high update rates. This paper introduces an event-based iterative closest point algorithm to track a microgripper's position at a frequency of 4 kHz. The temporal precision of the asynchronous silicon retina is used to provide a haptic feedback to assist users during manipulation tasks, whereas the frame-based camera is used to retrieve the position of the object that must be manipulated. This paper presents the results of an experiment on teleoperating a sphere of diameter around 50 μm using a piezoelectric gripper in a pick-and-place task.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Bourgogne-Franche-Comté</li><li>Franche-Comté</li><li>Île-de-France</li></region><settlement><li>Besançon</li><li>Paris</li></settlement><orgName><li>Université Pierre-et-Marie-Curie</li></orgName></list><tree><country name="France"><region name="Île-de-France"><name sortKey="Zhenjiang Ni" sort="Zhenjiang Ni" uniqKey="Zhenjiang Ni" last="Zhenjiang Ni">ZHENJIANG NI</name></region><name sortKey="Agnus, Joel" sort="Agnus, Joel" uniqKey="Agnus J" first="Joël" last="Agnus">Joël Agnus</name><name sortKey="Benosman, Ryad" sort="Benosman, Ryad" uniqKey="Benosman R" first="Ryad" last="Benosman">Ryad Benosman</name><name sortKey="Bolopion, Aude" sort="Bolopion, Aude" uniqKey="Bolopion A" first="Aude" last="Bolopion">Aude Bolopion</name><name sortKey="Regnier, Stephane" sort="Regnier, Stephane" uniqKey="Regnier S" first="Stéphane" last="Regnier">Stéphane Regnier</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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