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.
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DOI: 10.1109/TRO.2012.2198930
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Paris 6</orgName><orgName type="acronym">UPMC</orgName><desc><address><addrLine>4 place Jussieu - 75005 Paris</addrLine><country key="FR"></country></address><ref type="url">http://www.upmc.fr/</ref></desc></org></tutelle><tutelle name="UMR7210" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle name="U968" active="#struct-303623" type="direct"><org type="institution" xml:id="struct-303623" status="VALID"><idno type="IdRef">026388278</idno><orgName>Institut National de la Santé et de la Recherche Médicale</orgName><orgName type="acronym">INSERM</orgName><desc><address><addrLine>101, rue de Tolbiac, 75013 Paris </addrLine><country key="FR"></country></address><ref type="url">http://www.inserm.fr</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author><author><name sortKey="Regnier, Stephane" sort="Regnier, Stephane" uniqKey="Regnier S" first="Stéphane" last="Régnier">Stéphane Régnier</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-96164" status="VALID"><idno type="RNSR">200918463J</idno><orgName>Institut des Systèmes Intelligents et de Robotique</orgName><orgName type="acronym">ISIR</orgName><desc><address><addrLine>Université Pierre et Marie Curie - Paris VI Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05</addrLine><country key="FR"></country></address><ref type="url">http://www.isir.upmc.fr</ref></desc><listRelation><relation active="#struct-93591" type="direct"></relation><relation name="UMR7222" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-93591" type="direct"><org type="institution" xml:id="struct-93591" status="VALID"><orgName>Université Pierre et Marie Curie - Paris 6</orgName><orgName type="acronym">UPMC</orgName><desc><address><addrLine>4 place Jussieu - 75005 Paris</addrLine><country key="FR"></country></address><ref type="url">http://www.upmc.fr/</ref></desc></org></tutelle><tutelle name="UMR7222" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author></analytic><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></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Dynamic vision sensor</term><term>haptic feedback</term><term>micromanipulation</term><term>microrobotics</term><term>tracking algorithm</term><term>tracking algorithm.</term></keywords></textClass></profileDesc></teiHeader><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></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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