Biomimetic Millisystems Lab


Past Projects
Micromechanical Flying Insect (1998-2008)
The goal of this project is to develop an autonomous 0.1 gram flying robot using insect-inspired wing kinematics.
prototype kits
MilliRobot Prototyping using Composite Fiber Toolkits (2000-2007)
We developed a low cost (<$1000)) desktop factory which will allow users to build millirobots from a kit of components.
race cars
UCB EECS 192 Mechatronics Design Lab (1996)
Completely autonomous race cars, using IR beacons for tracking other cars, and optical track following. On-board computation is 8 bit processor (6811). Start signal is given by camera flash. Car with most laps in 2 minutes is the winner.
tactile display
Tactile sensor

Tele-Taction and Tactile Sensing (1982-2002)
MicroGlider Project (2004-2005)
Millirobotics for Minimally-Invasive surgery (1994-2004)
Desktop rapid prototyping millirobots (2000-2008)
stacked microparts
Dextrous manipulation and microassembly
Eiji Shimada's microassembly page
porbe pushing micropart
Manipulation of microparts using force controlled pushing (1998)
credit card robot
Credit card robot (1995)
air hockey robot
Credit card robot: squeeze film levitated, magnetically driven.(1992)
maze for paramecia
Maze solving by paramecia (1990)
nut on bolt

Manipulation with soft fingers (1991)
Stanford/JPL Hand

Dextrous Manipulation, etc. from '80s
nut on bolt

Dynamic modelling of fastener insertion (1991)
Control of paramecia

Paramecia Control (1991)
tactile sensing

Early tactile sensing (1987)
Acrobot hopping (1992) simulation .mp4

Acrobot project 1988-1993. See e.g.  ``Control of a Two-Link Robot to Achieve Sliding and Hopping Gaits'', IEEE ICRA 1992.
open loop .wmv sim .wmv


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