Architectures de contrôle comportementales et réactives pour la coopération d'un groupe de robots mobiles, 2005. ,
A bistable magnetically enhanced shape memory microactuator with high blocking forces, MRS 2010 Spring Meeting, pp.189-196, 2010. ,
DOI : 10.1016/j.phpro.2010.11.097
A 100v-ic for the remote powering and control of a microrobot using an electrostatic ciliary motion system, IEEE International Conference on TRANSDUCERS, Solid-State Sensors, Actuators and Microsystems, 2003. ,
URL : https://hal.archives-ouvertes.fr/hal-00146436
Fabrication and evaluation of a piezoelectric miniature motor, Sensors and Actuators A: Physical, vol.75, issue.1, pp.8-16, 1999. ,
DOI : 10.1016/S0924-4247(99)00017-5
Monolithically Fabricated Microgripper With Integrated Force Sensor for Manipulating Microobjects and Biological Cells Aligned in an Ultrasonic Field, Journal of Microelectromechanical Systems, vol.16, issue.1, pp.7-15, 2007. ,
DOI : 10.1109/JMEMS.2006.885853
Design of a cricket microrobot, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2000. ,
DOI : 10.1109/ROBOT.2000.844747
Prototypes of thermal actuated microlegs insect-like micro-robot, Journal Européen des Systèmes Automatisés, vol.36, pp.1277-1293, 2002. ,
Design and modeling of a six DOFs MEMS-based precision manipulator, Precision Engineering, vol.34, issue.2, pp.307-319, 2010. ,
DOI : 10.1016/j.precisioneng.2009.08.001
MICRON: Small Autonomous Robot for Cell Manipulation Applications, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.844-849, 2005. ,
DOI : 10.1109/ROBOT.2005.1570222
The autonomous micro robot "Alice": a platform for scientific and commercial applications, MHA'98. Proceedings of the 1998 International Symposium on Micromechatronics and Human Science., Creation of New Industry, (Cat. No.98TH8388), pp.231-235, 1998. ,
DOI : 10.1109/MHS.1998.745787
Bistable nanowire for micromechanical memory, Journal of Micromechanics and Microengineering, vol.18, issue.4, p.450057, 2008. ,
DOI : 10.1088/0960-1317/18/4/045005
Microrobotique numérique fondée sur l'utilisation de modules bistables : conception, fabrication et commande de modules monolithiques, 2010. ,
Digital Microrobotics Based on Bistable Modules: Design of Compliant Bistable Structures, 2008 IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, pp.36-41, 2008. ,
DOI : 10.1109/MESA.2008.4735711
URL : https://hal.archives-ouvertes.fr/hal-00332445
Modeling and control of a 3-degree-of-freedom walking microrobot, 2006. ,
Binary manipulator motion planning, 2006. ,
A binary paradigm for robotic manipulators, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, pp.3063-3069, 1994. ,
DOI : 10.1109/ROBOT.1994.351099
Numerical convolution on the Euclidean group with applications to workspace generation, IEEE Transactions on Robotics and Automation, vol.14, issue.1, pp.123-136, 1998. ,
DOI : 10.1109/70.660856
Architecture design of a multi-axis cellular actuator array using segmented binary control of shape memory alloy, Robotics, 2006. ,
Electrothermally activated SU-8 microgripper for single cell manipulation in solution, Journal of Microelectromechanical Systems, vol.14, issue.4, 2005. ,
DOI : 10.1109/JMEMS.2005.845445
Vibration analysis of stepping piezoelectric micro-motor using wiggle mode, Materials Science and Engineering: B, vol.99, issue.1-3, 2003. ,
DOI : 10.1016/S0921-5107(02)00559-7
High-power optical microswitch based on direct fiber actuation, Sensors and Actuators A: Physical, vol.119, issue.2, pp.512-519, 2005. ,
DOI : 10.1016/j.sna.2004.10.037
Linear microvibromotor for positioning optical components, Journal of Microelectromechanical Systems, vol.5, issue.3, pp.159-165, 1996. ,
DOI : 10.1109/84.536622
On the precision alignment and hybrid assembly aspects in manufacturing of a microspectrometer, 2008 IEEE International Conference on Automation Science and Engineering, 2008. ,
DOI : 10.1109/COASE.2008.4626541
High-Performance Surface-Micromachined Inchworm Actuator, Journal of Microelectromechanical Systems, vol.13, issue.1, pp.63-74, 2004. ,
DOI : 10.1109/JMEMS.2003.823236
Design and Fabrication of a Planar Three-DOFs MEMS-Based Manipulator, Journal of Microelectromechanical Systems, vol.19, issue.5, pp.1116-1130, 2010. ,
DOI : 10.1109/JMEMS.2010.2067196
Nanometer resolution tem sample manipulator for rotational and translational positioning, 19th European Conference on Solid-State Transducers, EuroSensors XIX 2005 This work has been made possible by the financial support of the Dutch ministry of economic affairs program IOP Precision Technology, 2005. ,
Adhesion Forces Controlled by Chemical Self-Assembly and pH: Application to Robotic Microhandling, ACS Applied Materials & Interfaces, vol.1, issue.9, pp.1966-1973, 2009. ,
DOI : 10.1021/am900343w
URL : https://hal.archives-ouvertes.fr/hal-00413803
The design of high precision parallel mechanisms using binary actuation and elastic averaging : with application to mri cancer treatment, 12th IF to MM World Congress, 2007. ,
A note on two problems in connexion with graphs, Numerische Mathematik, vol.4, issue.1, pp.269-271, 1959. ,
DOI : 10.1007/BF01386390
An Untethered, Electrostatic, Globally Controllable MEMS Micro-Robot, Journal of microelectromechanical systems, 2006. ,
DOI : 10.1109/JMEMS.2005.863697
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.121.3279
Planar Microassembly by Parallel Actuation of MEMS Microrobots, Journal of Microelectromechanical Systems, vol.17, issue.4, pp.789-808, 2008. ,
DOI : 10.1109/JMEMS.2008.924251
stage, Journal of Micromechanics and Microengineering, vol.17, issue.6, pp.1154-1161, 2007. ,
DOI : 10.1088/0960-1317/17/6/008
A robust micro conveyer realized by arrayed polyimide joint actuators, Technical Digest. IEEE International MEMS 99 Conference. Twelfth IEEE International Conference on Micro Electro Mechanical Systems (Cat. No.99CH36291), pp.1-13, 2000. ,
DOI : 10.1109/MEMSYS.1999.746892
A walking silicon micro-robot, IEEE International Conference on TRANSDU- CERS, Solid-State Sensors, Actuators and Microsystems, 1999. ,
Efficient workspace generation for binary manipulators with many actuators, Journal of Robotic Systems, vol.22, issue.5, pp.383-400, 1995. ,
DOI : 10.1002/rob.4620120605
Inverse kinematics of discretely actuated hyper-redundant manipulators using workspace densities, Proceedings of IEEE International Conference on Robotics and Automation, pp.1012-1017, 1996. ,
DOI : 10.1109/ROBOT.1996.503586
Evaluation of building technology for mass producible millimetre-sized robots using flexible printed circuit boards, Journal of Micromechanics and Microengineering, vol.19, issue.7, p.75011, 2009. ,
DOI : 10.1088/0960-1317/19/7/075011
Saw-tooth vernier ratchets for electrostatic inchworm actuators, Sensors and Actuators A: Physical, vol.156, issue.1, pp.66-71, 2008. ,
DOI : 10.1016/j.sna.2009.02.017
Microrobot system for automatic nanohandling inside a scanning electron microscope, IEEE International Conference on Robotics and Automation, 2006. ,
Simulation and realization of a novel micromechanical bi-stable switch, Sensors and Actuators A: Physical, vol.114, issue.2-3, pp.2-3, 2004. ,
DOI : 10.1016/j.sna.2004.01.034
MagMites - Microrobots for wireless microhandling in dry and wet environments, 2010 IEEE International Conference on Robotics and Automation, pp.1112-1113, 2010. ,
DOI : 10.1109/ROBOT.2010.5509678
In-plane linear displacement bistable microrelay, Journal of Micromechanics and Microengineering, vol.12, issue.3, pp.257-264, 2002. ,
DOI : 10.1088/0960-1317/12/3/310
Optimized binary modular reconfigurable robotic devices, IEEE/ASME Transactions on Mechatronics, vol.8, issue.1, pp.18-25, 2003. ,
DOI : 10.1109/TMECH.2003.809156
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.573.8429
A Formal Basis for the Heuristic Determination of Minimum Cost Paths, IEEE Transactions on Systems Science and Cybernetics, vol.4, issue.2, pp.100-107, 1968. ,
DOI : 10.1109/TSSC.1968.300136
Micro-manipulation of silicate micro-sized particles for biological applications, 5th International Workshop on Microfactories, 2006. ,
Compliant Mechanisms, 2001. ,
Micro-assembly using optically controlled bubble microrobots, Applied Physics Letters, vol.99, issue.9, p.94103, 2011. ,
DOI : 10.1063/1.3631662
First experiments on MagPieR: A planar wireless magnetic and piezoelectric microrobot, 2011 IEEE International Conference on Robotics and Automation, pp.102-108, 2011. ,
DOI : 10.1109/ICRA.2011.5979885
URL : https://hal.archives-ouvertes.fr/hal-00797894
Ultrasonically driven surface micromachined motor, Proceedings IEEE Thirteenth Annual International Conference on Micro Electro Mechanical Systems (Cat. No.00CH36308), 2000. ,
DOI : 10.1109/MEMSYS.2000.838487
Modeling the trajectory of a micro particle in a dielectrophoresis device for dynamic control, 2010 IEEE International Conference on Robotics and Automation, pp.4125-4130, 2010. ,
DOI : 10.1109/ROBOT.2010.5509981
Nanonewton force-controlled manipulation of biological cells using a monolithic MEMS microgripper with two-axis force feedback, Journal of Micromechanics and Microengineering, vol.18, issue.5, 2008. ,
DOI : 10.1088/0960-1317/18/5/055013
Highresolution inchworm linear motor based on electrostatic twisting microactuators, Journal of Micromechanics and Microengineering, vol.15, pp.9-1674, 2005. ,
Prototype microrobots for micro-positioning and micro-unmanned vehicles, Sensors and Actuators A: Physical, vol.80, issue.2, pp.132-137, 2000. ,
DOI : 10.1016/S0924-4247(99)00258-7
Kinematic analysis of translational 3-DOF micro parallel mechanism using matrix method, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), 2000. ,
DOI : 10.1109/IROS.2000.894700
A pulse-operating electrostatic microactuator for bi-stable latching, Journal of Micromechanics and Microengineering, vol.15, issue.8, pp.1511-1516, 2005. ,
DOI : 10.1088/0960-1317/15/8/019
Electromagnetically actuated micromanipulator using an acoustically oscillating bubble, Journal of Micromechanics and Microengineering, vol.21, issue.11, pp.115023-115132, 2011. ,
DOI : 10.1088/0960-1317/21/11/115023
Computation of Robot Configuration and Workspaces via the Fourier Transform on the Discrete-Motion Group, The International Journal of Robotics Research, vol.18, issue.6, pp.601-615, 1999. ,
DOI : 10.1177/02783649922066420
Deep X-ray mask with integrated electro-thermal micro xy-stage for 3D fabrication, based on contributions revised from the Technical Digest of the 16th IEEE International conference on Micro Electro mechanical Systems (MEMS 2003)</ce :title>, pp.37-43, 2004. ,
DOI : 10.1016/j.sna.2003.10.008
A combinatorial approach to trajectory planning for binary manipulators, Proceedings of IEEE International Conference on Robotics and Automation, pp.2749-2754, 1996. ,
DOI : 10.1109/ROBOT.1996.506578
An efficient method for computing the forward kinematics of binary manipulators, Proceedings of IEEE International Conference on Robotics and Automation, pp.1012-1017, 1996. ,
DOI : 10.1109/ROBOT.1996.506841
Parallel microrobot actuated by capillary effects, 2011 IEEE International Conference on Robotics and Automation, 2011. ,
DOI : 10.1109/ICRA.2011.5980290
URL : https://hal.archives-ouvertes.fr/hal-00648640
A novel design and analysis of a 2-dof compliant parallel micromanipulator for nanomanipulation, Automation Science and Engineering IEEE Transactions on, vol.3, pp.247-254, 2006. ,
Design and analysis of a totally decoupled flexure-based xy parallel micromanipulator, Robotics IEEE Transactions on, vol.25, issue.3, pp.645-657, 2009. ,
Computational issues in the planning and kinematics of binary robots, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), pp.341-346, 2002. ,
DOI : 10.1109/ROBOT.2002.1013384
Micro-electro-mechanical digital-to-analog converter based on a novel bimorph thermal actuator, IEEE International Conference on Sensors, pp.1036-1041, 2002. ,
Parabolic and hyperbolic flexure hinges: flexibility, motion precision and stress characterization based on compliance closed-form equations, Precision Engineering, vol.26, issue.2, pp.183-192, 2002. ,
DOI : 10.1016/S0141-6359(01)00108-8
Principle of a Submerged Freeze Gripper for Microassembly, IEEE Transactions on Robotics, vol.24, issue.4, pp.4-897, 2008. ,
DOI : 10.1109/TRO.2008.924944
URL : https://hal.archives-ouvertes.fr/hal-00335322
A Fully-Compliant, In-Plane Rotary, Bistable Micromechanism, Microelectromechanical Systems, pp.4224-481, 2005. ,
DOI : 10.1115/IMECE2005-81220
Design of fully compliant, in-plane rotary, bistable micromechanisms for MEMS applications, Sensors and Actuators A: Physical, vol.134, issue.1, pp.231-238, 2007. ,
DOI : 10.1016/j.sna.2006.04.030
A bistable electromagnetically actuated rotary gate microvalve, Journal of Micromechanics and Microengineering, vol.18, issue.3, p.3501514, 2008. ,
DOI : 10.1088/0960-1317/18/3/035015
Variable geometry truss concept. Tech. rep., The Institute of Space ans Astronautical Science, 1984. ,
An ultrasonic micromotor using a bending cylindrical transducer based on PZT thin film, Sensor and Actuators A, 1995. ,
DOI : 10.1016/0924-4247(96)80087-2
A SOI-MEMS-based 3-DOF planar parallel-kinematics nanopositioning stage, Sensors and Actuators A: Physical, vol.147, issue.1, pp.340-351, 2008. ,
DOI : 10.1016/j.sna.2008.04.018
How to design flexure hinges, Mach Des, vol.37, pp.151-156, 1965. ,
Dynamic modeling of stick slip motion in an untethered magnetic micro-robot, Proceedings of Robotics : Science and Systems IV, 2008. ,
Multiple magnetic microrobot control using electrostatic anchoring, Applied Physics Letters, vol.94, issue.16, p.164108, 2009. ,
DOI : 10.1063/1.3123231
The kinematics of manipulators under computer control, 1968. ,
Dielectric elastomers as electromechanical transducers, pp.270-278, 2008. ,
A high-current electrothermal bistable mems relay, IEEE International Conference on Micro Electro Mechanical Systems, pp.64-67, 2003. ,
Complete Open Loop Control of Hysteretic, Creeped, and Oscillating Piezoelectric Cantilevers, IEEE Transactions on Automation Science and Engineering, vol.7, issue.3, pp.440-450, 2010. ,
DOI : 10.1109/TASE.2009.2028617
URL : https://hal.archives-ouvertes.fr/hal-00436606
Development, Modeling, and Control of a Micro-/Nanopositioning 2-DOF Stick–Slip Device, IEEE/ASME Transactions on Mechatronics, vol.14, issue.6, pp.733-745, 2009. ,
DOI : 10.1109/TMECH.2009.2011134
Applications à la Micromanipulation, 2008. ,
An AlN piezoelectric microactuator array, Proceedings IEEE Thirteenth Annual International Conference on Micro Electro Mechanical Systems (Cat. No.00CH36308), 2000. ,
DOI : 10.1109/MEMSYS.2000.838597
Compliant multistable structural elements, International Journal of Solids and Structures, vol.45, issue.24, pp.6190-6204, 2008. ,
DOI : 10.1016/j.ijsolstr.2008.07.014
Remotely controllable mobile microrobots acting as nano positioners and intellignet tweezers in scanning electron microscopes (sems), IEEE International Conference on Robotics and Automation, 2001. ,
Linear frictional micro-conveyors, Sensor and Actuators A : Physical, 2008. ,
DOI : 10.1016/j.sna.2008.08.014
Analysis of quasi-static and dynamic motion mechanisms for piezoelectric miniature robots, Sensor and Actuators A, 2006. ,
DOI : 10.1016/j.sna.2006.02.023
Lightweight hyper-redundant binary elements for planetary exploration robots, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556), pp.1273-1278, 2001. ,
DOI : 10.1109/AIM.2001.936904
A new inverse kinematics algorithm for binary manipulators with many actuators, Advanced Robotics, vol.15, issue.2, pp.225-244, 2001. ,
DOI : 10.1163/15685530152116245
Applications of MEMS to industrial inspection, Technical Digest. MEMS 2001. 14th IEEE International Conference on Micro Electro Mechanical Systems (Cat. No.01CH37090), pp.182-191, 2001. ,
DOI : 10.1109/MEMSYS.2001.906510
Design and forward kinematics of the compliant micro-manipulator with lever mechanisms, Precision Engineering, vol.33, issue.4, pp.466-475, 2009. ,
DOI : 10.1016/j.precisioneng.2009.01.003
Microelectromechanical digital-to-analog converters of displacement for step motion actuators, Journal of Microelectromechanical Systems, vol.9, issue.2, pp.218-225, 2000. ,
DOI : 10.1109/84.846702
A fast workspace-density-driven inverse kinematics method for hyper-redundant manipulators, Robotica, vol.24, issue.05, pp.649-655, 2006. ,
DOI : 10.1017/S0263574706002827
On the Kinematics of Parallel Mechanisms with Bi-Stable Polymer Actuators, In Int. Symp. Advances Robot Kinematics, 2002. ,
DOI : 10.1007/978-94-017-0657-5_32
On the design of large degree-of-freedom digital mechatronic devices based on bistable dielectric elastomer actuators, IEEE/ASME Transactions on Mechatronics, vol.11, issue.4, pp.448-456, 2006. ,
DOI : 10.1109/TMECH.2006.878542
The First Takeoff of a Biologically Inspired At-Scale Robotic Insect, IEEE Transactions on Robotics, vol.24, issue.2, pp.341-347, 2008. ,
DOI : 10.1109/TRO.2008.916997
Design calculations for flexure hinges, Review of Scientific Instruments, vol.73, issue.8, pp.3101-3106, 2002. ,
DOI : 10.1063/1.1494855
Microrobot actuated by a vibration energy field, Sensors and Actuators A: Physical, vol.43, issue.1-3, pp.366-370, 1994. ,
DOI : 10.1016/0924-4247(93)00709-D
Mechanical digital-to-analog converters, Tenth International Solid-State Sensors and Actuators Conference, pp.998-1001, 1999. ,
Actuation, Sensing, and Fabrication for In Vivo Magnetic Microrobots, Experiments Robotics IX, vol.21, pp.321-330, 2006. ,
DOI : 10.1007/11552246_31
Design and experiment of a 3-dof parallel micromechanism utilizing flexure hinges, Robotics and Automation IEEE Transactions on, vol.19, issue.4, pp.604-612, 2003. ,
Design, identification, and control of a flexure-based xy stage for fast nanoscale positioning, IEEE Transactions on Nanotechnology, vol.8, pp.1-46, 2009. ,
Kinetostatic modeling of 3-RRR compliant micro-motion stages with flexure hinges, Mechanism and Machine Theory, vol.44, issue.6, pp.1156-1175, 2009. ,
DOI : 10.1016/j.mechmachtheory.2008.09.005
Review of circular flexure hinge design equations and derivation of empirical formulations, Precision Engineering, vol.32, issue.2, pp.63-70, 2008. ,
DOI : 10.1016/j.precisioneng.2007.05.002
Relationship among input-force, payload, stiffness and displacement of a 3-DOF perpendicular parallel micro-manipulator, Mechanism and Machine Theory, vol.45, issue.5, pp.756-771, 2010. ,
DOI : 10.1016/j.mechmachtheory.2009.12.006
Accurate low DOF modeling of a planar compliant mechanism with flexure hinges: the equivalent beam methodology, Precision Engineering, vol.29, issue.2, pp.237-245, 2005. ,
DOI : 10.1016/j.precisioneng.2004.09.001
Micromechanical torsional digital-to-analog converter for open-loop angular positioning applications, Journal of Micromechanics and Microengineering, vol.14, issue.5, pp.737-745, 2004. ,
DOI : 10.1088/0960-1317/14/5/012
outil de maillage automatique interne à Ansys avec un maillage le plus fin possible. Des détails de maillage de cette structure sont représentés sur la Figure A.2, dans laquelle nous observons naturellement une finesse de maillage accrue au niveau des articulations flexibles. Les caractéristiques utilisés lors de cette étude sont les suivantes : ? module d'Young du silicium E = 1,69 GPa ,