This work deals with the calibration of industrial robots operating at sub-micrometric precision. We demonstrate that the cutting-forces generated by the robot manufacturing process cause a significant deformation of the robot geometry, lowering its absolute accuracy. Then, we propose a way of studying and modeling such deformations, in order to compensate them during the robot usage. We have t...

The first part of the paper describes different concepts for micro production. The potential of miniaturised size adapted robots is pointed out based on their flexibility. Flexibility thereby is discussed in a detailed way that leads to two different ways of robot integration. The second part of the paper deals with the desktop factory concept. Beginning with a short state of the art for deskto...

Impedance scaling approach presented in this paper is specially developed for teleoperation robot control to meet requirements to control robots and mechatronic systems with completely different dimensions and mechanic characteristics than the human operator. It is applied to the developed RoTeMiNa robot system with 6 DOF and to the mechatronic handling device with 3 DOF for micro and nano oper...

In recent years, considerable underwater robotics research has focused on manipulating sophisticated systems for inspecting and maintaining underwater structures, which can include cluttered and complex areas such as narrow clear spaces. These robots may be used for feature and cable tracking, deep-ocean exploration, and to carry out tasks in environments full of coral reefs (Zhang et al. 2004;...

This work presents a novel method to assess the condition of Caenorhabditis elegans (C. elegans) through a resistance measurement of its undulatory locomotion speed inside a micro channel. As the worm moves over the electrode inside the micro channel, the length of the electrode changes, consequently behaving like a strain gauge. In this paper, the electrotaxis was applied for controlling the d...

Design of mobile micro-robot (MMR) is still a challenge due to the restricted availability of basic components. However, the number of highly integrated microelectronic and micromechanical components is growing fast. Nevertheless, its integration to a micro-system requires a good knowledge of all the interactions between sensor, actuator, computation and energy source. Often compromises between...

Behavior or Appearance? This is fundamental problem in robot development. Namely, not only the behavior but also the appearance of a robot influences human-robot interaction. There is, however, no research approach to tackling this problem. In order to state the problem, we have developed an android robot that has similar appearance as humans and several actuators generating micro behaviors. Th...