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 all-terrain crawling using nanostructured adhesives and
Force Sensing Shell using a Planar Sensor
We created a low-cost, light-weight force-torque sensor using
photointerrupters with force sensivity of 17 mN. This sensor can be used
for body contact location as well as environment drag forces.
J. Goldberg and R. Fearing,
(IEEE IROS 2015)
Terradynamically streamlined shapes in animals and robots enhance traversability
We found that both cockroaches and simple robots
rely on shell shape to roll the body to allow traversal through
a field of compliant stalks.
Chen Li, et al.
Bioinspiration and Biomimetics
Coordinated Launching of an Ornithopter with a Hexapedal Robot
We develop a cooperative launching
system for a 13.2 gram ornithopter micro-aerial vehicle (MAV),
the H2Bird, by carrying it on the VelociRoACH. We determine the necessary
initial velocity and pitch angle for take off using force data
collected in a wind tunnel and use the VelociRoACH to reach
these initial conditions for successful launch.
Rose et al. (IEEE ICRA May 2015)
Running beyond the bio-inspired regime (May 2015)
The X2-VelociRoACH is a 54 gram experimental
legged robot which was developed to test hypotheses about
running with unnaturally high stride frequencies. It is capable
of running at stride frequencies up to 45 Hz, and velocities up
to 4.9 m/s, making it the fastest legged robot relative to size.
Haldane and Fearing (
IEEE ICRA May 2015) video
Detection of Slippery Terrain with Picket Robot (June 2014)
Experiments conducted with StarlETH (ASL, ETH Zurich) and UCB VelociRoACH using
joint localization detected slippery terrain with 92% accuracy.
Haldane et al. (
IEEE ICRA June 2014)
Roll oscillation modulated turning (June 2014)
A new dynamic turning mode in legged robots is demonstrated, which uses a
phase-locked gait to excite coupled height and roll oscillations. A
modified robot with enhanced roll oscillations turned at 206 deg/sec at a speed
of 0.4 m/s.
Haldane and Fearing
(IEEE ICRA June 2014)
Steering SailRoACH (Oct. 2013) SailRoACH
uses aerodynamic forces on its tail to turn, achieving at 1.2 meter
radius turn while running at 1.6 meters per second. Scaling laws work
favorably for this turning mode for fast running small robots. Kohut et
(IEEE IROS Nov. 2013) movie
Adhesion (Feb. 2013) Controllable adhesion to
glass spheres with a magnetically actuated
synthetic gecko adhesive is demonstrated. Results show sphere
pull-off forces can be increased 10-fold by changing the ridge
orientation via the external magnetic field, and that the effective
elastic modulus can be changed from 65 kPa to 1.5 MPa.
movie of controllable adhesive Gillies et al.
Advanced Functional Materials, 2013
Animal-inspired Design and Aerodynamic Stabilization of a Hexapedal
Millirobot (Jan. 2013) The VelociRoACH is a 10
cm long, 30 gram
hexapedal millirobot capable of running at 2.7 m/s, making
it the fastest legged robot built to date, relative to scale.
Dynamic similarity technique combined with aerodynamic damping
provides stability at high speeds. D. Haldane et al. IEEE ICRA May
2013. paper Movie
Bioinspired sensors and control strategies are being developed for
coordinated flight of multiple ornithopters.
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. (Shown is autonomous miniRoACH from
Past Research Projects
We are developing a low cost (<$1000)) desktop factory which will
allow users to build millirobots from a kit of components.