Fig. 4
From: Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots
Determining the optimum caging location of the microrobots around a payload using the grasp-planning module. a The image-processing algorithm determines the location and size of the randomly located microrobots (labeled 1–4) and the micro-object. The path-planning algorithm calculates the caging positions, marked using dotted circles numbered 1′ to 4′. The initial caging location was set 307 μm away from the center of the micro-object. b The caging formation is rotated 10 degrees clockwise. c The formation is rotated another 10 degrees and contracted 51 μm using the grasp-planning module to position the microrobots between the arms of the star-shaped structure. d The final caging locations calculated by the grasp-planning algorithm are marked with dotted circles labeled 1′ to 4′. The size of Microrobots 1, 2, 3, and 4 is 156, 114, 126, and 101 μm in diameter. Scale bar: 150 μm