ICRA 2011 Paper Abstract


Paper WeA206.1

Cappelleri, David (Stevens Institute of Technology), Fatovic, Michael (Stevens Institute of Technology), Shah, Utsav Dinesh (Stevens Institute of Technology)

Caging Micromanipulation for Automated Microassembly

Scheduled for presentation during the Regular Sessions "Micro-Nano Robots II" (WeA206), Wednesday, May 11, 2011, 10:05−10:20, Room 5A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Micro/Nano Robots, Manipulation Planning, Micro and Nanoscale Automation


This paper introduces the concept of caging micromanipulation for use in automated open loop microassembly tasks. Utilizing a caging transport motion primitive along with rotational and translation primitives, we demonstrate full control of the state of the part. Additionally, a framework for planar microassembly task planning is provided based on the A* algorithm. It is used to determine the optimal assembly sequences and part starting locations in the workspace. We also describe a test-bed suitable for planar micro, meso-scale, and nano-scale manipulation and assembly tasks and present simulation and experimental results of this work.



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