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This work describes the design of a capacitive multi-axis force-torque sensor for the monitoring of forces in the sub-milli-Newton and sub-micro-Newtonmeter range. This force range makes it a valuable tool for microrobotic applications. The sensor is experimentally investigated and calibrated. This is the first microfabricated 6-axis force-torque sensor that has been successfully developed.
The robust and efficient flight control of insects provide a powerful model system for autonomous microrobots. Conversely, robots offer a robust experimental platform on which to test biological hypotheses. This interaction of biology and robotics is an exciting but challenging task, because the vast disparities between both can lead to inaccurate or even misleading conclusions. In this paper, we...
Visual servoing is a manipulation control strategy that precisely positions objects using imprecisely calibrated camera-lens-manipulator systems. In order to quickly and easily integrate sensor-based manipulation strategies such as visual servoing into robotic systems, a system framework and a task representation must exist which facilitates this integration. The framework must also be extendable...
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