Romansy 14 pp 151-161 | Cite as

Manipulation of Micro-objects using Adhesion Forces and Dynamical Effects in Unconstrained Environment

  • Dogan Haliyo
  • Stéphane Régnier
  • Jean-Claude Guinot
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


This paper describes a dynamical strategy for releasing objects picked-up by means of adhesion forces. Indeed, if sticking effects are used in order to capture an object by adequately choosing a high surface energy constitutive material for the end-effector, these same effects handicap considerably the release. We propose to take advantage of the inertial effects of the end-effector and the manipulated object to overbalance adhesion forces and to achieve the release. For this purpose, accelerations as high as 105 m/s 2 are needed. Successful manipulation of a 40μm radius glass sphere is presented.


Adhesion Force Inertial Effect Glass Sphere Wheatstone Bridge Command Signal 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Dogan Haliyo
    • 1
  • Stéphane Régnier
    • 1
  • Jean-Claude Guinot
    • 1
  1. 1.Laboratoire de Robotique de ParisUniversité Paris 6France

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