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2012


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Two-dimensional autonomous microparticle manipulation strategies for magnetic microrobots in fluidic environments

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

IEEE Transactions on Robotics, 28(2):467-477, IEEE, 2012 (article)

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Project Page [BibTex]

2012


Project Page [BibTex]


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Three-dimensional microfiber devices that mimic physiological environments to probe cell mechanics and signaling

Ruder, W. C., Pratt, E. D., Bakhru, S., Sitti, M., Zappe, S., Cheng, C., Antaki, J. F., LeDuc, P. R.

Lab on a Chip, 12(10):1775-1779, Royal Society of Chemistry, 2012 (article)

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[BibTex]

[BibTex]


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Active visual search in unknown environments using uncertain semantics

Aydemir, Alper, Pronobis, Andrzej, Jensfelt, Patric, Sj, Kristoffer, Aydemir, Alper, Jensfelt, Patric, Aydemir, A, Jensfelt, P, Aydemir, A, Jensfelt, P, others

Transactions, 1, pages: 2329-2335, IEEE, 2012 (article)

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[BibTex]

[BibTex]


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Modelling of conductive atomic force microscope probes for scanning tunnelling microscope operation

Ozcan, O, Sitti, M

IET Micro \& Nano Letters, 7(4):329-333, IET, 2012 (article)

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[BibTex]

[BibTex]


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Shape memory polymer-based flexure stiffness control in a miniature flapping-wing robot

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

IEEE Transactions on Robotics, 28(4):987-990, IEEE, 2012 (article)

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[BibTex]

[BibTex]


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Micro-manipulation using rotational fluid flows induced by remote magnetic micro-manipulators

Ye, Z., Diller, E., Sitti, M.

Journal of Applied Physics, 112(6):064912, AIP, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Remotely addressable magnetic composite micropumps

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

Rsc Advances, 2(9):3850-3856, Royal Society of Chemistry, 2012 (article)

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[BibTex]

[BibTex]


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Shape-Programmable Soft Capsule Robots for Semi-Implantable Drug Delivery

Yim, S., Sitti, M.

Mechatronics, IEEE/ASME Transactions on, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Control of multiple heterogeneous magnetic microrobots in two dimensions on nonspecialized surfaces

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

IEEE Transactions on Robotics, 28(1):172-182, IEEE, 2012 (article)

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[BibTex]

[BibTex]


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Gecko-Inspired Controllable Adhesive Structures Applied to Micromanipulation

Mengüç, Y., Yang, S. Y., Kim, S., Rogers, J. A., Sitti, M.

Advanced Functional Materials, 22(6):1245-1245, WILEY-VCH Verlag, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Elastomer surfaces with directionally dependent adhesion strength and their use in transfer printing with continuous roll-to-roll applications

Yang, S. Y., Carlson, A., Cheng, H., Yu, Q., Ahmed, N., Wu, J., Kim, S., Sitti, M., Ferreira, P. M., Huang, Y., others,

Advanced Materials, 24(16):2117-2122, WILEY-VCH Verlag, 2012 (article)

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[BibTex]

[BibTex]


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Effect of retraction speed on adhesion of elastomer fibrillar structures

Abusomwan, U., Sitti, M.

Applied Physics Letters, 101(21):211907, AIP, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Impact and Surface Tension in Water: a Study of Landing Bodies

Shih, B., Laham, L., Lee, K. J., Krasnoff, N., Diller, E., Sitti, M.

Bio-inspired Robotics Final Project, Carnegie Mellon University, 2012 (article)

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[BibTex]

[BibTex]


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Design and rolling locomotion of a magnetically actuated soft capsule endoscope

Yim, S., Sitti, M.

IEEE Transactions on Robotics, 28(1):183-194, IEEE, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Design and manufacturing of a controllable miniature flapping wing robotic platform

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

The International Journal of Robotics Research, 31(6):785-800, SAGE Publications Sage UK: London, England, 2012 (article)

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[BibTex]

[BibTex]


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Chemotactic steering of bacteria propelled microbeads

Kim, D., Liu, A., Diller, E., Sitti, M.

Biomedical microdevices, 14(6):1009-1017, Springer US, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]

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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[BibTex]

2009


[BibTex]


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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]

[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]

[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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[BibTex]

[BibTex]


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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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[BibTex]

[BibTex]


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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]

[BibTex]


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Adaptive Frequency Oscillators and Applications

Righetti, L., Buchli, J., Ijspeert, A.

The Open Cybernetics \& Systemics Journal, 3, pages: 64-69, 2009 (article)

Abstract
In this contribution we present a generic mechanism to transform an oscillator into an adaptive frequency oscillator, which can then dynamically adapt its parameters to learn the frequency of any periodic driving signal. Adaptation is done in a dynamic way: it is part of the dynamical system and not an offline process. This mechanism goes beyond entrainment since it works for any initial frequencies and the learned frequency stays encoded in the system even if the driving signal disappears. Interestingly, this mechanism can easily be applied to a large class of oscillators from harmonic oscillators to relaxation types and strange attractors. Several practical applications of this mechanism are then presented, ranging from adaptive control of compliant robots to frequency analysis of signals and construction of limit cycles of arbitrary shape.

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link (url) [BibTex]

link (url) [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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[BibTex]

[BibTex]


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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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[BibTex]

[BibTex]


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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]

[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]

[BibTex]


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A Swallowable Tethered Capsule Endoscope for Diagnosing Barrett’s Esophagus

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

Gastrointestinal Endoscopy, 69(5):AB106, Mosby, 2009 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Adhesion of biologically inspired polymer microfibers on soft surfaces

Cheung, E., Sitti, M.

Langmuir, 25(12):6613-6616, ACS Publications, 2009 (article)

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[BibTex]

[BibTex]


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Dangling chain elastomers as repeatable fibrillar adhesives

Sitti, M., Cusick, B., Aksak, B., Nese, A., Lee, H., Dong, H., Kowalewski, T., Matyjaszewski, K.

ACS applied materials \& interfaces, 1(10):2277-2287, American Chemical Society, 2009 (article)

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[BibTex]

[BibTex]


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Reversible dry micro-fibrillar adhesives with thermally controllable adhesion

Kim, S., Sitti, M., Xie, T., Xiao, X.

Soft Matter, 5(19):3689-3693, Royal Society of Chemistry, 2009 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Enhanced reversible adhesion of dopamine methacrylamide-coated elastomer microfibrillar structures under wet conditions

Glass, P., Chung, H., Washburn, N. R., Sitti, M.

Langmuir, 25(12):6607-6612, ACS Publications, 2009 (article)

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Project Page [BibTex]

Project Page [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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[BibTex]

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]

[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]

2001


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Wing transmission for a micromechanical flying insect

Yan, J., Avadhanula, S., Birch, J., Dickinson, M., Sitti, M., Su, T., Fearing, R.

Journal of Micromechatronics, 1(3):221-237, Brill, 2001 (article)

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[BibTex]

2001


[BibTex]