Biomimetic Millisystems Lab


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Past Projects
tactile display
Tactile sensor
Tele-Taction and Tactile Sensing (1982-2002)
nut on bolt
Manipulation with soft fingers (1991)
soft finger
Soft finger design by Michael Cohn (1991). movie
MFI
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 sensing

Early tactile sensing (1987)
Micro-glider
MicroGlider Project (2004-2005)
Millirobotics for Minimally-Invasive surgery (1994-2004)
orthotweezers
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)
polysilicon
                      folded gripper
Folded polysilicon microgripper (1991)
movie

air hockey robot
Credit card robot: squeeze film levitated, magnetically driven.(1992)

credit card robot
Credit card robot (1995)

maze for paramecia
Maze solving by paramecia (1990)
Stanford/JPL Hand

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

Dynamic modelling of fastener insertion (1991)
Control of paramecia

Paramecia Control (1991)
acrobot
Acrobot hopping (1992) simulation .mp4
acrobot acrobot
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 and sim .wmv




Affiliations

RObotics Lab
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