By Nadine Le Fort-Piat, Alain Bourjault

The diversity of modern advancements within the box of ‘mechatronics’—devices that mix mechanical constructions with digital controls—is verified in those descriptions of fingertip manipulation, main issue detection, micromanipulation of organic gadgets, ultra-high precision microrobotics, and an insect-like robotic.

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Figure 11 shows a result of the measuring experiment after the identification of the parameter. 14mm. This figure shows a reduction of position errors compared with the result before identification. Omni-directional Obstacle Detection 41 Figure 11. Measuring result of inside of box after parameter identification: Solid lines are the positions of the real obstacles and small circles are the result of the experiment Using the above modified geometrical model, we carried out an experiment of detecting obstacles in a real environment.

1, 1996, pp. 52-59. , Jun M. ) and Its Applications", O plus E, No. 210, 1997, pp. 96-99. Chapter 4 Mobile Robot Localization using Reflective Marks on a Ceiling Hiroaki Seki, Takashi Yamashita, Yoshitsugu Kamiya, Masatoshi Hikizu and Hideshi Sakashita Department of Mechanical Systems Engineering, Kanazawa University, Japan 46 Recent Trends in Mechatronics 1. Introduction The need for robots to move and work near humans is increasing in the office, welfare, and with home service robots for example [TAK 96][COR 98].

Figure 12 presents some snapshots, extracted from the videos of the first manipulation tests carried out with the hand of the LMS. In these pictures, we see the LMS hand rotating a prism with three fingers. 28 Recent Trends in Mechatronics Figure 11. Grasp examples: a) Power grasp, b) Fingertip grasp with 3 fingers, c) Fingertip grasp with 2 fingers To carry out these manipulation tasks, the object is placed in the hand by the operator so that the initial grasp can be made. When the object is grasped, the manipulation starts.

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