Some Examples of Path Following in Microrobotics

Bassem Dahroug (1) , Jean-Antoine Seon (1) , Ali Oulmas (2) , Tiantian Xu (2) , Brahim Tamadazte (2) , Stephane Regnier (2) , Nicolas Andreff (1)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)
2 ISIR - Institut des Systèmes Intelligents et de Robotique

After reviewing the various motion generation strategies (waypoint sequence, trajectory tracking and path following), this paper suggests that path following is probably the best strategy at small scales. This is illustrated by three examples coming from biomedical applications: endoscopic laser steering, magnetic manipulation of microswimmers and navigation of a surgical tool under anatomical constraints.

Keywords: microrobot control; biomedical robotics; path following; visual servoing; laser steering; magnetic manipulation

Domains: Automatic

Bassem Dahroug, Jean-Antoine Seon, Ali Oulmas, Tiantian Xu, Brahim Tamadazte, et al.. Some Examples of Path Following in Microrobotics. 2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2018), Jul 2018, Nagoya, Japan. ⟨10.1109/MARSS.2018.8481156⟩. ⟨hal-04248774⟩