Biomimetic Millisystems Lab

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The goal of the Biomimetic Millisystems Lab is to harness features of animal manipulation, locomotion, sensing, actuation, mechanics, dynamics, and control strategies to radically improve millirobot capabilities. Research in the lab ranges from fundamental understanding of mechanical principles to novel fabrication techniques to system integration of autonomous millirobots. The lab works closely with biologists to develop models of function which can be tested on engineered and natural systems. The lab's current research is centered on fly-size flapping flight, and all-terrain crawling using nanostructured adhesives.

NEW
Directional Gecko Adhesive (Jan. 2008) First easy attach, easy release, and directional synthetic gecko adhesive using hard polymer microfibers. Microfiber array using 42 million polypropylene microfibers per square centimeter. Patches can support 9 N/sq.cm. in estimated contact region with preload of just 0.1N/sq.cm. Sliding-induced adhesion of stiff polymer, Interface 2008
Fast Prototyping for Folded Millirobots (Apr. 2008) By using posterboard, laser cutting, and lamination processes, multi-jointed robots can be rapidly prototyped in less than 2 hours. An example 2X scale crawler model has 57 flexure joints and can be driven using shape memory alloy actuation. Hoover ICRA 2008 Fab Process Movie Movie of crawler
High Power Density Bimorph Actuator (Oct. 2007) Dynamometer testing shows energy delivery of 19 uJ per cycle from a 10 mg PZT bimorph actuator, with power delivery of > 450 W/kg at 270 Hz. (By comparison, the smallest motor available at 70 mg has power density < 100 W/kg). Steltz&Fearing, IROS 2007

Current Research Projects (Jan. 2008)
Micromechanical Flying Insect The goal of this project is to develop an autonomous 0.1 gram flying robot using insect-inspired wing kinematics. Research issues range from actuator mechanics to flight control with biomimetic sensors.
Biologically Inspired Synthetic Gecko Adhesives Micro and nanofiber structures are designed to provide high friction and adhesive forces through mechanical control of surface interactions.
Folding Prototyping of Meso- and Milli- Robots Using laser cutting of composite materials, we rapidly prototype small scale robots using flexure technology. Example structures with dozens of joints have been constructed.
Millirobot Rapid Prototyping We are developing a low cost (<$1000)) desktop factory which will allow users to build millirobots from a kit of components.
Micro-Robots and Microassembly Manipulation of 200 micron and smaller components using the OrthoTweezers manipulator is the key for automated millirobot assembly.

RECENT RESULTS
High Lift with 270 Hz Wing Beat (Oct. 2007) By increasing wing beat frequency from 170 Hz to 270 Hz, the lift force generated by a single wing increased from 500 uN to 1400 uN, more than 2X the lift required for the final 100 mg MFI to hover. Steltz et al IROS 2007

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