Biomimetic Millisystems Lab


HOME
NEWS
CURRENT PROJECTS
PAST PROJECTS
PUBLICATIONS
PEOPLE
RESOURCES


























































































Top of Page

PREVIOUS NEWS
OctoRoACH with Tail (May 2012)

The 100-mm scale OctoRoACH robot can turn using differential drive at 100 degrees per second, or with a dynamic tail with peak turn rates of 400 degrees per second. Pullin et al. ICRA 2012
octoRoACH+tail
BOLT: Bipedal Ornithopter for Locomotion Transitioning (Sept. 2011)
Bolt is a 13 gram ornithopter with legs for mixed-mode locomotion. In running modes, wings provide passive stability. With wing assisted running, BOLT can run at 2.5 m/sec while maintaining ground contact. IROS 2011 . movie
BOLT hybrid robot
DASH+Wings: Wing Assisted Running (Oct. 2011)

DASH+Wings is a small hexapedal winged robot that uses flapping wings to increase its ground locomotion capabilities. The wings increase climbing slopes and stability, but do not provide enough thrust for flight. A wing assisted running robot and implications for avian flight evolution. Bioinspiration and Bioimetics
dash + wings
Flight Control for Target Seeking by 13 gram Ornithopter (Sept. 2011)

We demonstrate autonomous flight control of 13 gram ornithopter capable of flying toward a target without any remote assistance. For this demonstration, we have developed a closed-loop attitude regulator for the ornithopter using onboard sensing and computational resources. Movie IROS 2011 .
iBird
                      seeking light
OctoRoACH:Dual Drive MilliRobot (Sept. 2011)

The OctoRoACH robot has a mass of less than 30 grams, and includes the ImageProc CPU with gyro, accelerometer, radio and camera, is capable of locomotion in rough surfaces. Robot designed by A. Pullin. Pullin et al. ICRA 2012
OctoRoACH
GSA Adhesive Material Limits (Aug. 2011)
HDPE and PP fibrillar arrays have shear adhesion stress (0.3 MPa) sufficient to deform the fibers. Hence the fiber material strength is a limit to greater adhesion strength. Surprisingly, the GSA maintained 54% of original stress in spite or marked deformation over 10,000 cycles.
Shear Adhesion Strength of Thermoplastic Gecko-Inspired Synthetic Adhesive Exceeds Material Limits, Langmuir, 2011
Wear of
                      HDPE microfibers
MEDIC Millirobot with belly climbing (May 2011)
The Medic robot has a mass of 5.5 grams, and is capable of positioning within 1 mm using static SMA drive. The robot includes camera and wireless. (Kohut et al., ICRA 2011.)
Medic Robot
DASH 16 gram Hexapedal Robot (Oct. 2009)
Using compliant fiber board as structural material, and a single main driver motor, the DASH robot is capable of 15 body lengths per second on flat surfaces. The structure is resilient and  survives ground impact at terminal velocity of 10 meters per second. IROS 2009. Video (Youtube).
DASH 16 gram crawler
Dynamic turning by modulating leg stiffness (Sep. 2010)
The dynaRoACH robot has mass of 24 grams and is capable of running at 14 body lengths per second. By changing leg stiffness, the robot can execute a 90 degrees turn in 5 leg strides. BioRob 2010
Dynamic Turning
Altitude Regulation of iBird (Sept. 2010)

We identify free flight aerodynamic forces at a stable equilibrium point of an ornithopter and compare them with the tethered flight aerodynamic forces. We developed Closed-loop altitude regulation for the ornithopter using an external camera and onboard electronics shows that the tethered aerodynamic force measurement of a 12 gram ornithopter with zero induced velocity underestimates the total flight force by 24.8 mN.  Movie (1.1 MB .avi)
Biorob 2010 (Finalist for best paper award)
iBird hover control
Combined Lamellar Nanofibrillar Array  (Oct. 2009)
Lamellar structures act as base support planes for high-aspect ratio HDPE fiber arrays. Nanofiber arrays on lamella can adhere to a smooth grating with 5 times greater shear strength than flat nanofiber array. Langmuir, Oct 2009
lamella
RoACH 2.0 and DASH on Granular Media (Apr. 2010)
Joint work with Goldman lab at GeorgiaTech to measure cost-of-transport on granular media shows 5-30 J/kg-m at 6-10 body lengths per second. SPIE 2010
RoACH 2.0
Kids Science Challenge: Bioinspired Design  (Oct. 2009)
Bouncing passive robot construction for 3rd to 6th graders.
Kids Science Challenge
ksc-bhopper
ASME Student Mechanism and Robot Design Contest (Sep. 2009)
Congratulations to Aaron Hoover for being awarded first place in the Graduate Robots Division  of the ASME Student Mechanism and Robot Design Competition, part of the
2009 ASME International Design Engineering Technical Conferences, for ``RoACH: An Autonomous 2.4 gram Crawling Hexapod Robot''! (Sep. 2, 2009)
crawler and quarter
Congratulations to Kevin Ma for being awarded second place in the Mechanisms- Undergraduate Division  of the ASME Student Mechanism and Robot Design Competition, part of the 2009 ASME International Design Engineering Technical Conferences, for ``Flexure-based Ornithopter Transmission Mechanism''! (Sep. 2, 2009) kevin flapper
Australia Broadcast Corp feature on work in Polypedal and Biomimetic Millisystem Labs (May 2009) Catalyst
big roach in hand
Directional Adhesion of Angled Microfibers (Nov. 2008)
Angled polypropylene microfibers show strong directional adhesion effects, with shear strength in direction of fibers 45 times larger than sliding against fiber directions. A 1 sq. cm. patch supported a load of 450 grams in shear. Directional adhesion of gecko inspired angled microfiber arrays, Applied Physics Letters, 2008.
angled fibers
RoACH:An Autonomous 2.4 gram hexapod robot (Sep. 2008)

A new 2.4 gram crawling robot was created which uses  laser machined glass fiber to create 57 flexure joints. The robot has on board power and electronics, and a top speed of 3 cm/sec (~ 1 body length per second).

crawler and quarter
Self-Cleaning Gecko Adhesive (Sep. 2008)
First synthetic gecko adhesive which cleans itself during use, as the natural gecko does. After contamination by microspheres, the microfiber array loses all adhesion strength. After repeated contacts with clean glass, the microspheres are shed, and the fibers recover 30% of their original adhesion. The fibers have a non-adhesive default state, which encourages particle removal during contact.
Contact Self-Cleaning of Synthetic Gecko Adhesive, Langmuir 2008
self cleaning of microspheres

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
Rapidly prototyped cardboard crawler
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
Directional gecko adhesive
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
MFI high speed wing motion
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
piezo bimorph
ICRA 2006 Plenary Talk (May 2006)
Challenges for Effective Millirobots
MFI


Affiliations

RObotics Lab logo COINS CIBER Polypedal Lab