High-Bandwidth 3-D Multitrap Actuation Technique for 6-DoF Real-Time Control of Optical Robots

Edison Gerena; Stéphane Régnier; D. Sinan Haliyo

RA-L 201918 citations

High-Bandwidth 3-D Multitrap Actuation Technique for 6-DoF Real-Time Control of Optical Robots

Edison Gerena, Stéphane Régnier, D. Sinan Haliyo

Abstract

Optical robots are microscale structures actuated using laser trapping techniques. However, the lack of robust and real-time three-dimensional (3-D) actuation techniques reduces most applications to planar space. We present here a new approach to generate and control several optical traps synchronously in 3-D with low latency and high bandwidth (up to 200 Hz). This time-shared technique uses only mirrors, hence, is aberration free. Simultaneous traps are used to actuate optical robots and provide 6-DoF telemanipulation. Experiments demonstrate the flexibility and dexterity of the implemented user control, paving the way to novel applications in microrobotics and biology.

BibTeX

@inproceedings{ral2019_highbandwidth3dm,
  title = {High-Bandwidth 3-D Multitrap Actuation Technique for 6-DoF Real-Time Control of Optical Robots},
  author = {Edison Gerena and Stéphane Régnier and D. Sinan Haliyo},
  booktitle = {RA-L 2019},
  year = {2019}
}