3D Noncontact Micro-Particle Manipulation With Acoustic Robot End-Effector Under Microscope
文献类型：期刊论文
| 作者 | Wang, Mingyue1; Li, Jiaqi1; Jia, Yuyu1; Sun, Zhenhuan1; Su, Hu2 ; Liu, Song1,3
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 2024-09-01 |
| 卷号 | 9期号:9页码:7979-7986 |
| 关键词 | Acoustics End effectors Three-dimensional displays Robot kinematics Impedance Phased arrays Acoustic field micro/nano robotics microscopic vision noncontact particle manipulation |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2024.3436330 |
| 通讯作者 | Su, Hu(hu.su@ia.ac.cn) ; Liu, Song(liusong@shanghaitech.edu.cn) |
| 英文摘要 | As an essential component of noncontact manipulation, acoustic manipulation has achieved great success in multidisciplinary research and applications. Although acoustic tweezers have made advancements in manipulating particles in air, handling individual particles with high precision in water remains challenging and inadequately addressed due to the difficulty in precisely characterizing and calibrating acoustic robot end-effectors from a robotic perspective. In this letter, we present a vision-based automated noncontact particle manipulation approach using an acoustic robot end-effector, which achieves precise and reliable particle manipulation in 3D space. Specifically, visual feedback is incorporated for micro-particle localization, and a dynamic acoustic field modulation method is proposed for controlling the end-effector. The invisible robot end-effector is localized and characterized through hydrophone scanning. The proposed vision solution is capable of automated trapping and precise translation of micro-particles suspended in a water-based environment and is applicable to particles with both negative and positive impedance contrast against the medium. Experimental results demonstrate the effectiveness of this approach towards automated noncontact particle manipulation with an acoustic robot end-effector. |
| WOS关键词 | ARRAY |
| 资助项目 | National Natural Science Foundation of China[62303321] ; Shanghai Pujiang Talents Program[21PJ1410500] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001290228400005 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Shanghai Pujiang Talents Program |
| 源URL | [http://ir.ia.ac.cn/handle/173211/59291]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 |
| 通讯作者 | Su, Hu; Liu, Song |
| 作者单位 | 1.ShanghaiTech Univ, Sch Informat Sci & Technol, Shanghai 201210, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 3.Shanghai Engn Res Ctr Intelligent Vis & Imaging, Sch Informat Sci & Technol, Shanghai, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Mingyue,Li, Jiaqi,Jia, Yuyu,et al. 3D Noncontact Micro-Particle Manipulation With Acoustic Robot End-Effector Under Microscope[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2024,9(9):7979-7986. |
| APA | Wang, Mingyue,Li, Jiaqi,Jia, Yuyu,Sun, Zhenhuan,Su, Hu,&Liu, Song.(2024).3D Noncontact Micro-Particle Manipulation With Acoustic Robot End-Effector Under Microscope.IEEE ROBOTICS AND AUTOMATION LETTERS,9(9),7979-7986. |
| MLA | Wang, Mingyue,et al."3D Noncontact Micro-Particle Manipulation With Acoustic Robot End-Effector Under Microscope".IEEE ROBOTICS AND AUTOMATION LETTERS 9.9(2024):7979-7986. |
入库方式： OAI收割
来源：自动化研究所
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