Asynchronous Event-based visual shape tracking for stable haptic feedback in Microrobotics.
Identifieur interne : 002037 ( Main/Merge ); précédent : 002036; suivant : 002038Asynchronous 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 Régnier [France]Source :
- IEEE Transactions on Robotics [ 1552-3098 ] ; 2012-05-25.
English descriptors
- mix :
Abstract
Micromanipulation systems have recently been receiving increased attention. Tele-operated 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 can not ensure--at reasonable costs--stable automated or tele-operated 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 (AER) 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 tele-operating a sphere of diameter around 50 m using a piezo-electric gripper in a pick-and-place task.
Url:
DOI: 10.1109/TRO.2012.2198930
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<idno type="DOI">10.1109/TRO.2012.2198930</idno>
<series><title level="j">IEEE Transactions on Robotics</title>
<idno type="ISSN">1552-3098</idno>
<imprint><date type="datePub">2012-05-25</date>
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<profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Dynamic vision sensor</term>
<term>haptic feedback</term>
<term>micromanipulation</term>
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<term>tracking algorithm.</term>
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<front><div type="abstract" xml:lang="en">Micromanipulation systems have recently been receiving increased attention. Tele-operated 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 can not ensure--at reasonable costs--stable automated or tele-operated 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 (AER) 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 tele-operating a sphere of diameter around 50 m using a piezo-electric gripper in a pick-and-place task.</div>
</front>
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