Conception and Construction of a 3 DOF Optical Precision Sensor Integrated in Micro-Robots
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Soft robotics may provide many advantages compared to traditional robotics approaches based on rigid materials, such as intrinsically safe physical human-robot interaction, efficient/stable locomotion, adaptive morphology, etc. The objective of this study ...
Due to technological limitations robot actuators are often designed for specific tasks with narrow performance goals, whereas a wide range of output and behaviours is necessary for robots to operate autonomously in uncertain complex environments. We presen ...
This project was done in the laboratory of integrated actuators (LAI) during the first master semester. It is part of a PhD-work with linear actuators, also called relays, where these actuators are optimized in design and equipped with a speed control duri ...
A mobile microrobot is defined as a robot with a size ranging from 1 in3 down to 100 µm3 and a motion range of at least several times the robot's length. Mobile microrobots have a great potential for a wide range of mid-term and long-term applications such ...
We demonstrate a three-dimensional (3D) monolithic micro-actuator fabricated by non-ablative femtosecond laser micromachining and subsequent chemical etching. The actuating principle is based on dielectrophoresis. An analytical modeling of this actuation s ...
This paper presents advances in the development of a microrobotic platform actuated by three liquid droplets in a gaseous environment (Drop-bot or Drobot). Drobot builds on the bubble robotics concept earlier introduced by Lenders [1]. A new platform desig ...
Because of their large output strain, dielectric elastomer actuators (DEAs) have been proposed for tunable optics applications such as tunable gratings. However, the inherent viscoelastic drift of these actuators is an important drawback and closed-loop op ...
This paper presents a novel locomotion concept for mobile micro robots: the “friction drive principle”. It allows for easy miniaturization and high velocities for low power consumption and simple onboard electronics. A prototype (Ø20 mm × 7.5 mm) with two ...
Computing infrastructures of mobile robots have grown in complexity in the last decades; They have evolved from single processor systems to networks of microcontrollers communicating through a shared bus. This has induced additional architectural constrain ...
Actuation systems for few cubic millimeter sized mobile autonomous robots are subject to severe constraints in terms of e.g. size, fabrication or power consumption. Also the onboard electronics has limited performance due to both size and power restriction ...