Biomimetics Millisystem Lab


Lab Facilities
lab view
Prototype processing area
Laser micromachining system
wind tunnel
Arena for ambulation testing
force testing system
Precision force/displacement testing station

Research Tools
  Prototyping Folded Robots
  Microlaze and Thermojet
  Tactile Sensor Construction
  Pneumatic Tactile Display Fabrication
  Laser Micromachining
  Synthetic Gecko Adhesion Bibliography
  Do-it-yourself gecko tape (ages 13 and up)
  ImageProc dsPIC33F CPU board for robot control
  OpenRoACH 15 cm cardboard robot (on GitHub)
  open source tracked robot with Linux/ROS.
miniature BLDC motor driver board and code

ICRA 2006 Plenary ``Challenges for Effective MilliRobots'' Movies and References
EECS Theses (list)

E.J. Nicolson, ``Tactile Sensing and Control of a Planar Manipulator'' PhD EECS 1994, pdf
K.H. Chiang, ``Limits on Microvalve Design'' PhD EECS 2000, pdf
G. Moy, ``Bidigital Teletaction System Design and Performance'' PhD EECS 2002, pdf
Robert J. Wood, ``Composite Microstructures, Microactuators and Sensors for Biologically Inspired Micro Air Vehicles,'' PhD EECS 2004, pdf
Srinath Avadhanula, ``Design, Fabrication and Control of the Micromechanical Flying Insect,'' PhD ME 2006. pdf
Ranjana Sahai, ``Rapid prototyping of Robotic Structures on a Centimeter Scale,'' PhD ME 2006.
Jongho Lee, ``Biologically Inspired Synthetic Gecko Adhesive from Hard Polymer Microfiber Arrays,'' PhD ME 2008. pdf
Aaron Hoover, ``Design of Minimally Actuated Legged Milli-Robots Using Compliant Mechanisms and Folding,'' PhD ME 2010. pdf
Nicholas J. Kohut, ``Inertial and Aerodynamic Tail Steering of a Meso-scale Legged Robot,'' PhD ME May 2013, pdf
Andrew G. Gillies, ``Challenges for Synthetic Gecko Adhesives: Roughness, Fouling, and Wear,'' PhD Thesis (ME) Dec. 2013. pdf
Duncane W. Haldane, ``Rapid and Agile Locomotion with Power-dense Millirobots,'' PhD Thesis (ME) May 2017. pdf