TY - GEN
T1 - Valg
T2 - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025
AU - Hui, Xusheng
AU - Luo, Jianjun
AU - You, Haonan
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - Non-contact manipulation at the air-liquid interface holds significant potential for applications in microrobotics, non-invasive assembly, and biochemistry analysis. However, achieving simultaneous position and orientation (pose) control of floating objects remains a considerable challenge, particularly for adaptive control without prior modeling of the objects. Here, we introduce the Vision-based Adaptive Laser Gripper (VALG) system addressing these challenges. By leveraging the distributed thermocapillary flow induced by patterned laser scanning, a pose control strategy based on the equidistant contour scanning laser is proposed and validated. The proposed system relies solely on visual recognition to generate adaptive laser grippers, which achieve static equilibrium to simultaneously constrain the position and orientation of the floating objects. Experimental validation demonstrates the effectiveness of the VALG system in independent position and orientation control, coupled pose control, and path following. The VALG system facilitates smooth, precise, fast, and adaptive pose control of generalized floating objects, establishing it as a universal and versatile platform for non-contact manipulation at the air-liquid interface.
AB - Non-contact manipulation at the air-liquid interface holds significant potential for applications in microrobotics, non-invasive assembly, and biochemistry analysis. However, achieving simultaneous position and orientation (pose) control of floating objects remains a considerable challenge, particularly for adaptive control without prior modeling of the objects. Here, we introduce the Vision-based Adaptive Laser Gripper (VALG) system addressing these challenges. By leveraging the distributed thermocapillary flow induced by patterned laser scanning, a pose control strategy based on the equidistant contour scanning laser is proposed and validated. The proposed system relies solely on visual recognition to generate adaptive laser grippers, which achieve static equilibrium to simultaneously constrain the position and orientation of the floating objects. Experimental validation demonstrates the effectiveness of the VALG system in independent position and orientation control, coupled pose control, and path following. The VALG system facilitates smooth, precise, fast, and adaptive pose control of generalized floating objects, establishing it as a universal and versatile platform for non-contact manipulation at the air-liquid interface.
UR - https://www.scopus.com/pages/publications/105016623193
U2 - 10.1109/ICRA55743.2025.11127612
DO - 10.1109/ICRA55743.2025.11127612
M3 - 会议稿件
AN - SCOPUS:105016623193
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6645
EP - 6651
BT - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025
A2 - Ott, Christian
A2 - Admoni, Henny
A2 - Behnke, Sven
A2 - Bogdan, Stjepan
A2 - Bolopion, Aude
A2 - Choi, Youngjin
A2 - Ficuciello, Fanny
A2 - Gans, Nicholas
A2 - Gosselin, Clement
A2 - Harada, Kensuke
A2 - Kayacan, Erdal
A2 - Kim, H. Jin
A2 - Leutenegger, Stefan
A2 - Liu, Zhe
A2 - Maiolino, Perla
A2 - Marques, Lino
A2 - Matsubara, Takamitsu
A2 - Mavromatti, Anastasia
A2 - Minor, Mark
A2 - O'Kane, Jason
A2 - Park, Hae Won
A2 - Park, Hae-Won
A2 - Rekleitis, Ioannis
A2 - Renda, Federico
A2 - Ricci, Elisa
A2 - Riek, Laurel D.
A2 - Sabattini, Lorenzo
A2 - Shen, Shaojie
A2 - Sun, Yu
A2 - Wieber, Pierre-Brice
A2 - Yamane, Katsu
A2 - Yu, Jingjin
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 19 May 2025 through 23 May 2025
ER -