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12 Octobre 2014

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27 Octobre 2014

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Lire le programme

28 Octobre 2014

JJCR 2014

29-30 Octobre 2014

Journées Nationales du GDR Robotique.

Abstract

Embedded Actuation on Deformable Tube : Application to an Active Micro-Endoscope

A new generation of endoscopes for early cancer detection and targeted therapy is investigated hereby. The main objective of our work is to propose a novel microrobotic structure at the tip of the endoscope, complementing the continuum robot approach with embedded micro-actuation. Thus, control of the system is performed through Electro-Active Polymers (EAP) actuators in order to cover a large workspace, improve performance indices, and provide holonomy and redundancy. A high precision control based on the end-effector pose measurmement is expected