10 accepted papers
This paper presents the design and experimental validation of a magnetic end-effector optimized for the robust manipulation of a tethered magnetic endoscope in six-degrees-of-freedom (6-DoF). The symmetrical end-effector integrates two pairs of permanent magnets that generate a stable 2D attraction …
This paper presents the design and experimental validation of a magnetic end-effector optimized for the robust manipulation of a tethered magnetic endoscope in six-degrees-of-freedom (6-DoF). The symmetrical end-effector integrates two pairs of permanent magnets that generate a stable 2D attraction
The planning of robotic manipulation and grasping tasks depends on the reconstruction of the 3D object’s shape. Most of the existing 3D object reconstruction methods are based on visual sensing that are limited due to the lack of the object’s occluded side information. The goal of this paper is to o…
This paper presents a novel permanent magnets based actuator capable of injecting and 2D wireless control the motion of an untethered microrobot. The actuator is obtained with a simple, but an effective arrangement of four permanent magnets. Its novelty is that it creates local maxima of the magneti…
A reliable estimation of 3D parameters is a must for several applications like planning and control, in which is included Image-Based Visual Servoing. This control scheme depends directly on 3D parameters, e.g. depth of points, and/or depth and direction of 3D straight lines. Recently, a framework f
A reliable estimation of 3D parameters is a must for several applications like planning and control, in which is included Image-Based Visual Servoing. This control scheme depends directly on 3D parameters, e.g. depth of points, and/or depth and direction of 3D straight lines. Recently, a framework f…
This paper presents new schemes to estimate 3D rotation from spherical images. Unlike existing approaches, spherical moment properties are exploited to obtain a closed form solution without iteratively mimimizing a cost function. Actually, three methods using spherical moments are proposed: two of t…
The magnetic particles actuated by an external magnetic field present a promising solution as drug carrier at the inner ear (cochlea). This technique allows non-invasive drug delivery with minimal hydraulic force and very high precision. In this work, magnetic prototyping platform for intra cochlear…
Visual servoing based on photometric data is of great interest since it does not necessitate any image processing or visual tracking steps. A vital issue in such methods is the change in the image resulting from the appearance and disappearance of portions of the scene from the camera field-of-view…
Incremental Structure from Motion (SfM) algorithms require, in general, precise knowledge of the camera linear and angular velocities in the camera frame for estimating the 3D structure of the scene. Since an accurate measurement of the camera own motion may be a non-trivial task in several robotics…