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2013


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Dry adhesives and methods for making dry adhesives

Sitti, M., Kim, S.

sep 2013, US Patent App. 14/016,651 (misc)

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[BibTex]

2013


[BibTex]


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Dry adhesives and methods for making dry adhesives

Sitti, M., Kim, S.

sep 2013, US Patent App. 14/016,683 (misc)

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[BibTex]

[BibTex]


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Dry adhesives and methods for making dry adhesives

Sitti, M., Kim, S.

sep 2013, US Patent 8,524,092 (misc)

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[BibTex]

[BibTex]


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Dry adhesives and methods of making dry adhesives

Sitti, M., Murphy, M., Aksak, B.

March 2013, US Patent App. 13/845,702 (misc)

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[BibTex]

[BibTex]


Towards Dynamic Trot Gait Locomotion: Design, Control, and Experiments with Cheetah-cub, a Compliant Quadruped Robot
Towards Dynamic Trot Gait Locomotion: Design, Control, and Experiments with Cheetah-cub, a Compliant Quadruped Robot

Spröwitz, A., Tuleu, A., Vespignani, M., Ajallooeian, M., Badri, E., Ijspeert, A. J.

{The International Journal of Robotics Research}, 32(8):932-950, Sage Publications, Inc., Cambridge, MA, 2013 (article)

Abstract
We present the design of a novel compliant quadruped robot, called Cheetah-cub, and a series of locomotion experiments with fast trotting gaits. The robot’s leg configuration is based on a spring-loaded, pantograph mechanism with multiple segments. A dedicated open-loop locomotion controller was derived and implemented. Experiments were run in simulation and in hardware on flat terrain and with a step down, demonstrating the robot’s self-stabilizing properties. The robot reached a running trot with short flight phases with a maximum Froude number of FR = 1.30, or 6.9 body lengths per second. Morphological parameters such as the leg design also played a role. By adding distal in-series elasticity, self- stability and maximum robot speed improved. Our robot has several advantages, especially when compared with larger and stiffer quadruped robot designs. (1) It is, to the best of the authors’ knowledge, the fastest of all quadruped robots below 30 kg (in terms of Froude number and body lengths per second). (2) It shows self-stabilizing behavior over a large range of speeds with open-loop control. (3) It is lightweight, compact, and electrically powered. (4) It is cheap, easy to reproduce, robust, and safe to handle. This makes it an excellent tool for research of multi-segment legs in quadruped robots.

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Youtube1 Youtube2 Youtube3 Youtube4 Youtube5 DOI Project Page [BibTex]

Youtube1 Youtube2 Youtube3 Youtube4 Youtube5 DOI Project Page [BibTex]


Horse-Like Walking, Trotting, and Galloping derived from Kinematic Motion Primitives (kMPs) and their Application to Walk/Trot Transitions in a Compliant Quadruped Robot
Horse-Like Walking, Trotting, and Galloping derived from Kinematic Motion Primitives (kMPs) and their Application to Walk/Trot Transitions in a Compliant Quadruped Robot

Moro, F., Spröwitz, A., Tuleu, A., Vespignani, M., Tsagakiris, N. G., Ijspeert, A. J., Caldwell, D. G.

Biological Cybernetics, 107(3):309-320, 2013 (article)

Abstract
This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A principal component analysis on horse joint trajectories shows that walk, trot, and gallop can be described by a set of four kinematic Motion Primitives (kMPs). These kMPs are used to generate valid, stable gaits that are tested on a compliant quadruped robot. Tests on the effects of gait frequency scaling as follows: results indicate a speed optimal walking frequency around 3.4 Hz, and an optimal trotting frequency around 4 Hz. Following, a criterion to synthesize gait transitions is proposed, and the walk/trot transitions are successfully tested on the robot. The performance of the robot when the transitions are scaled in frequency is evaluated by means of roll and pitch angle phase plots.

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DOI [BibTex]

DOI [BibTex]


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Two-dimensional magnetic micro-module reconfigurations based on inter-modular interactions

Miyashita, S., Diller, E., Sitti, M.

The International Journal of Robotics Research, 32(5):591-613, SAGE Publications Sage UK: London, England, 2013 (article)

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[BibTex]

[BibTex]


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Contact compliance effects in the frictional response of bioinspired fibrillar adhesives

Piccardo, M., Chateauminois, A., Fretigny, C., Pugno, N. M., Sitti, M.

Journal of The Royal Society Interface, 10(83):20130182, The Royal Society, 2013 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Co-chairs

VINCENT, Julian, ZHU, Di, DAI, Zhendong, CHEN, Da, JIANG, Lei, KANG, Le, REN, Luquan, XUE, Qunji, Zhao, Chunsheng, BARNES, Jon, others

2013 (article)

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[BibTex]

[BibTex]


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Topological Control of Cell Sheet Migration by the 3D Microenvironment

Song, J., Kim, Y. T., Hazar, M., LeDuc, P. R., Davidson, L. A., Sitti, M.

Biophysical Journal, 104(2):147a, Elsevier, 2013 (article)

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[BibTex]

[BibTex]


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Independent control of multiple magnetic microrobots in three dimensions

Diller, E., Giltinan, J., Sitti, M.

The International Journal of Robotics Research, 32(5):614-631, SAGE Publications Sage UK: London, England, 2013 (article)

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[BibTex]

[BibTex]


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Modular micro-robotic assembly through magnetic actuation and thermal bonding

Diller, E., Zhang, N., Sitti, M.

Journal of Micro-Bio Robotics, 8(3-4):121-131, Springer Berlin Heidelberg, 2013 (article)

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[BibTex]

[BibTex]


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A simulation and design tool for a passive rotation flapping wing mechanism

Arabagi, V., Hines, L., Sitti, M.

IEEE/ASME Transactions on Mechatronics, 18(2):787-798, 2013 (article)

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Project Page [BibTex]

Project Page [BibTex]


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GECKO-INSPIRED POLYMER ADHESIVES

Menguc, Yigit, Metin, Metin

Polymer Adhesion, Friction, and Lubrication, pages: 351, Wiley, 2013 (article)

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[BibTex]


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Near and far-wall effects on the three-dimensional motion of bacteria-driven microbeads

Edwards, M. R., Wright Carlsen, R., Sitti, M.

Applied Physics Letters, 102(14):143701, AIP, 2013 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Magnetically Actuated Soft Capsule With the Multimodal Drug Release Function

Yim, S., Goyal, K., Sitti, M.

IEEE/ASME Trans. on Mechatronics, 18(4):1413-1418, IEEE, 2013 (article)

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Project Page [BibTex]

Project Page [BibTex]


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An opto-thermocapillary cell micromanipulator

Hu, W., Fan, Q., Ohta, A. T.

Lab on a Chip, 13(12):2285-2291, Royal Society of Chemistry, 2013 (article)

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[BibTex]

[BibTex]


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Tank-like module-based climbing robot using passive compliant joints

Seo, T., Sitti, M.

IEEE/ASME Transactions on Mechatronics, 18(1):397-408, 2013 (article)

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[BibTex]


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Enhanced fabrication and characterization of gecko-inspired mushroom-tipped microfiber adhesives

Song, J., Mengüç, Y., Sitti, M.

Journal of Adhesion Science and Technology, 27(17):1921-1932, Routledge, 2013 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Micro-scale mobile robotics

Diller, E., Sitti, M.

Foundations and Trends in Robotics, 2(3):143-259, Now Publishers Incorporated, 2013 (article)

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[BibTex]

[BibTex]


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Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

Sitti, M., Menciassi, A., Ijspeert, A., Low, K. H., Kim, S.

Mechatronics, IEEE/ASME Transactions on, 18(2):409-418, DOI: 10.1109/TMECH.2012. 2233492, 2013 (article)

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[BibTex]

[BibTex]


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Miniaturisation for chemistry, physics, biology, materials science and bioengineering

Lee, T., Shin, Y., Park, M.

Lab Chip, 13, pages: 81-89, 2013 (article)

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[BibTex]

2011


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Design and application of a wire-driven bidirectional telescopic mechanism for workspace expansion with a focus on shipbuilding tasks

Lee, D., Chang, D., Shin, Y., Son, D., Kim, T., Lee, K., Kim, J.

Advanced Robotics, 25, 2011 (article)

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2011


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Waalbot II: Adhesion recovery and improved performance of a climbing robot using fibrillar adhesives

Murphy, M. P., Kute, C., Mengüç, Y., Sitti, M.

The International Journal of Robotics Research, 30(1):118-133, SAGE Publications Sage UK: London, England, 2011 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Automated 2-D nanoparticle manipulation using atomic force microscopy

Onal, C. D., Ozcan, O., Sitti, M.

IEEE Transactions on Nanotechnology, 10(3):472-481, IEEE, 2011 (article)

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[BibTex]


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Biaxial mechanical modeling of the small intestine

Bellini, C., Glass, P., Sitti, M., Di Martino, E. S.

Journal of the mechanical behavior of biomedical materials, 4(8):1727-1740, Elsevier, 2011 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Assembly and disassembly of magnetic mobile micro-robots towards deterministic 2-D reconfigurable micro-systems

Diller, E., Pawashe, C., Floyd, S., Sitti, M.

The International Journal of Robotics Research, 30(14):1667-1680, SAGE Publications Sage UK: London, England, 2011 (article)

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[BibTex]


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Aqueous droplet manipulation by optically induced Marangoni circulation

Hu, W., Ohta, A. T.

Microfluidics and nanofluidics, 11(3):307-316, Springer-Verlag, 2011 (article)

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[BibTex]


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An optically controlled 3D cell culturing system

Ishii, K. S., Hu, W., Namekar, S. A., Ohta, A. T.

Advances in optoelectronics, 2011, Hindawi, 2011 (article)

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[BibTex]


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Modeling of stochastic motion of bacteria propelled spherical microbeads

Arabagi, V., Behkam, B., Cheung, E., Sitti, M.

Journal of Applied Physics, 109(11):114702, AIP, 2011 (article)

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Project Page [BibTex]

Project Page [BibTex]


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The effect of aspect ratio on adhesion and stiffness for soft elastic fibres

Aksak, B., Hui, C., Sitti, M.

Journal of The Royal Society Interface, 8(61):1166-1175, The Royal Society, 2011 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Enhancing adhesion of biologically inspired polymer microfibers with a viscous oil coating

Cheung, E., Sitti, M.

The Journal of Adhesion, 87(6):547-557, Taylor & Francis Group, 2011 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Piezoelectric polymer fiber arrays for tactile sensing applications

Sümer, B., Aksak, B., Şsahin, K., Chuengsatiansup, K., Sitti, M.

Sensor Letters, 9(2):457-463, American Scientific Publishers, 2011 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Control methodologies for a heterogeneous group of untethered magnetic micro-robots

Floyd, S., Diller, E., Pawashe, C., Sitti, M.

The International Journal of Robotics Research, 30(13):1553-1565, SAGE Publications, 2011 (article)

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2009


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Magnetic mobile micro-robots

Pawashe, C., Floyd, S., Sitti, M.

7eme Journees Nationales de la Recherche en Robotique, 2009 (article)

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2009


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Gecko-Inspired Directional and Controllable Adhesion

Murphy, M. P., Aksak, B., Sitti, M.

Small, 5(2):170-175, WILEY-VCH Verlag, 2009 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Multiple magnetic microrobot control using electrostatic anchoring

Pawashe, C., Floyd, S., Sitti, M.

Applied Physics Letters, 94(16):164108, AIP, 2009 (article)

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[BibTex]


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Wet self-cleaning of biologically inspired elastomer mushroom shaped microfibrillar adhesives

Kim, S., Cheung, E., Sitti, M.

Langmuir, 25(13):7196-7199, ACS Publications, 2009 (article)

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[BibTex]

[BibTex]


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Robot ceiling climbers harness new tricks

Marks, Paul

New Scientist, 202(2705):18-19, Reed Business Information, 2009 (article)

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[BibTex]


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Biologically-Inspired Patterned and Coated Adhesives for Medical Devices

Glass, P, Chung, H, Lee, C, Tworkoski, E, Washburn, NR, Sitti, M

Journal of Medical Devices, 3(2):027537, American Society of Mechanical Engineers, 2009 (article)

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Modeling and experimental characterization of an untethered magnetic micro-robot

Pawashe, C., Floyd, S., Sitti, M.

The International Journal of Robotics Research, 28(8):1077-1094, Sage Publications, 2009 (article)

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Towards automated nanoassembly with the atomic force microscope: A versatile drift compensation procedure

Krohs, F., Onal, C., Sitti, M., Fatikow, S.

Journal of Dynamic Systems, Measurement, and Control, 131(6):061106, American Society of Mechanical Engineers, 2009 (article)

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[BibTex]


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Enhanced adhesion by gecko-inspired hierarchical fibrillar adhesives

Murphy, M. P., Kim, S., Sitti, M.

ACS applied materials \& interfaces, 1(4):849-855, American Chemical Society, 2009 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Miniature devices: Voyage of the microrobots

Sitti, M.

Nature, 458(7242):1121-1122, Nature Publishing Group, 2009 (article)

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Dry spinning based spinneret based tunable engineered parameters (STEP) technique for controlled and aligned deposition of polymeric nanofibers

Nain, A. S., Sitti, M., Jacobson, A., Kowalewski, T., Amon, C.

Macromolecular rapid communications, 30(16):1406-1412, WILEY-VCH Verlag, 2009 (article)

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Two-dimensional contact and noncontact micromanipulation in liquid using an untethered mobile magnetic microrobot

Floyd, S., Pawashe, C., Sitti, M.

IEEE Transactions on Robotics, 25(6):1332-1342, IEEE, 2009 (article)

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[BibTex]


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A scaled bilateral control system for experimental one-dimensional teleoperated nanomanipulation

Onal, C. D., Sitti, M.

The International Journal of Robotics Research, 28(4):484-497, Sage Publications, 2009 (article)

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[BibTex]