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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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[BibTex]

2011


[BibTex]


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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]

[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]

[BibTex]


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Toward simple control for complex, autonomous robotic applications: combining discrete and rhythmic motor primitives

Degallier, S., Righetti, L., Gay, S., Ijspeert, A.

Autonomous Robots, 31(2-3):155-181, October 2011 (article)

Abstract
Vertebrates are able to quickly adapt to new environments in a very robust, seemingly effortless way. To explain both this adaptivity and robustness, a very promising perspective in neurosciences is the modular approach to movement generation: Movements results from combinations of a finite set of stable motor primitives organized at the spinal level. In this article we apply this concept of modular generation of movements to the control of robots with a high number of degrees of freedom, an issue that is challenging notably because planning complex, multidimensional trajectories in time-varying environments is a laborious and costly process. We thus propose to decrease the complexity of the planning phase through the use of a combination of discrete and rhythmic motor primitives, leading to the decoupling of the planning phase (i.e. the choice of behavior) and the actual trajectory generation. Such implementation eases the control of, and the switch between, different behaviors by reducing the dimensionality of the high-level commands. Moreover, since the motor primitives are generated by dynamical systems, the trajectories can be smoothly modulated, either by high-level commands to change the current behavior or by sensory feedback information to adapt to environmental constraints. In order to show the generality of our approach, we apply the framework to interactive drumming and infant crawling in a humanoid robot. These experiments illustrate the simplicity of the control architecture in terms of planning, the integration of different types of feedback (vision and contact) and the capacity of autonomously switching between different behaviors (crawling and simple reaching).

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link (url) DOI [BibTex]

link (url) DOI [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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[BibTex]

[BibTex]

2007


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Bacterial flagella-based propulsion and on/off motion control of microscale objects

Behkam, B., Sitti, M.

Applied Physics Letters, 90(2):023902, AIP, 2007 (article)

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2007


[BibTex]


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Friction of partially embedded vertically aligned carbon nanofibers inside elastomers

Aksak, B., Sitti, M., Cassell, A., Li, J., Meyyappan, M., Callen, P.

Applied Physics Letters, 91(6):061906, AIP, 2007 (article)

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[BibTex]


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Enhanced friction of elastomer microfiber adhesives with spatulate tips

Kim, S., Aksak, B., Sitti, M.

Applied Physics Letters, 91(22):221913, AIP, 2007 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Microscale and nanoscale robotics systems [grand challenges of robotics]

Sitti, M.

IEEE Robotics \& Automation Magazine, 14(1):53-60, IEEE, 2007 (article)

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[BibTex]

[BibTex]


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A new biomimetic adhesive for therapeutic capsule endoscope applications in the gastrointestinal tract

Glass, P., Sitti, M., Appasamy, R.

Gastrointestinal Endoscopy, 65(5):AB91, Mosby, 2007 (article)

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[BibTex]

[BibTex]


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Visual servoing-based autonomous 2-D manipulation of microparticles using a nanoprobe

Onal, C. D., Sitti, M.

IEEE Transactions on control systems technology, 15(5):842-852, IEEE, 2007 (article)

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[BibTex]

[BibTex]


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Adhesion of biologically inspired vertical and angled polymer microfiber arrays

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

Langmuir, 23(6):3322-3332, ACS Publications, 2007 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Waalbot: An agile small-scale wall-climbing robot utilizing dry elastomer adhesives

Murphy, M. P., Sitti, M.

IEEE/ASME transactions on Mechatronics, 12(3):330-338, IEEE, 2007 (article)

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[BibTex]

[BibTex]


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iCub - The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research

Tsagarakis, N., Metta, G., Sandini, G., Vernon, D., Beira, R., Becchi, F., Righetti, L., Santos-Victor, J., Ijspeert, A., Carrozza, M., Caldwell, D.

Advanced Robotics, 21(10):1151-1175, 2007 (article)

Abstract
The development of robotic cognition and the advancement of understanding of human cognition form two of the current greatest challenges in robotics and neuroscience, respectively. The RobotCub project aims to develop an embodied robotic child (iCub) with the physical (height 90 cm and mass less than 23 kg) and ultimately cognitive abilities of a 2.5-year-old human child. The iCub will be a freely available open system which can be used by scientists in all cognate disciplines from developmental psychology to epigenetic robotics to enhance understanding of cognitive systems through the study of cognitive development. The iCub will be open both in software, but more importantly in all aspects of the hardware and mechanical design. In this paper the design of the mechanisms and structures forming the basic 'body' of the iCub are described. The papers considers kinematic structures dynamic design criteria, actuator specification and selection, and detailed mechanical and electronic design. The paper concludes with tests of the performance of sample joints, and comparison of these results with the design requirements and simulation projects.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Subfeature patterning of organic and inorganic materials using robotic assembly

Tafazzoli, A., Cheng, C., Pawashe, C., Sabo, E. K., Trofin, L., Sitti, M., LeDuc, P. R.

Journal of materials research, 22(06):1601-1608, Cambridge University Press, 2007 (article)

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[BibTex]

[BibTex]


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Effect of backing layer thickness on adhesion of single-level elastomer fiber arrays

Kim, S., Sitti, M., Hui, C., Long, R., Jagota, A.

Applied Physics Letters, 91(16):161905, AIP, 2007 (article)

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[BibTex]

[BibTex]


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Adhesion and anisotropic friction enhancements of angled heterogeneous micro-fiber arrays with spherical and spatula tips

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

Journal of Adhesion Science and Technology, 21(12-13):1281-1296, Taylor & Francis Group, 2007 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Surface-tension-driven biologically inspired water strider robots: Theory and experiments

Song, Y. S., Sitti, M.

IEEE Transactions on robotics, 23(3):578-589, IEEE, 2007 (article)

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[BibTex]

[BibTex]

2003


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Synthetic gecko foot-hair micro/nano-structures as dry adhesives

Sitti, M., Fearing, R. S.

Journal of adhesion science and technology, 17(8):1055-1073, Taylor & Francis Group, 2003 (article)

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Project Page [BibTex]

2003


Project Page [BibTex]


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Teleoperated touch feedback from the surfaces at the nanoscale: modeling and experiments

Sitti, M., Hashimoto, H.

IEEE/ASME transactions on mechatronics, 8(2):287-298, IEEE, 2003 (article)

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[BibTex]

[BibTex]


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Scaled teleoperation system for nano-scale interaction and manipulation

Sitti, M., Aruk, B., Shintani, H., Hashimoto, H.

Advanced Robotics, 17(3):275-291, Taylor & Francis Group, 2003 (article)

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[BibTex]

[BibTex]


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Atomic force microscope probe based controlled pushing for nano-tribological characterization

Sitti, M.

IEEE/ASME Transactions on Mechatronics, 8(3), 2003 (article)

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[BibTex]


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Efficient charge recovery method for driving piezoelectric actuators with quasi-square waves

Campolo, D., Sitti, M., Fearing, R. S.

IEEE transactions on ultrasonics, ferroelectrics, and frequency control, 50(3):237-244, IEEE, 2003 (article)

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[BibTex]

[BibTex]


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Piezoelectrically actuated four-bar mechanism with two flexible links for micromechanical flying insect thorax

Sitti, M.

IEEE/ASME transactions on mechatronics, 8(1):26-36, IEEE, 2003 (article)

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[BibTex]