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2007


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Space exploration-towards bio-inspired climbing robots

Menon, C., Murphy, M., Sitti, M., Lan, N.

INTECH Open Access Publisher, 2007 (misc)

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2007


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Bacterial flagella-based propulsion and on/off motion control of microscale objects

Behkam, B., Sitti, M.

Applied Physics Letters, 90(2):023902, AIP, 2007 (article)

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A strategy for vision-based controlled pushing of microparticles

Lynch, N. A., Onal, C., Schuster, E., Sitti, M.

In Robotics and Automation, 2007 IEEE International Conference on, pages: 1413-1418, 2007 (inproceedings)

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Friction of partially embedded vertically aligned carbon nanofibers inside elastomers

Aksak, B., Sitti, M., Cassell, A., Li, J., Meyyappan, M., Callen, P.

Applied Physics Letters, 91(6):061906, AIP, 2007 (article)

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Enhanced friction of elastomer microfiber adhesives with spatulate tips

Kim, S., Aksak, B., Sitti, M.

Applied Physics Letters, 91(22):221913, AIP, 2007 (article)

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Project Page [BibTex]


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Microscale and nanoscale robotics systems [grand challenges of robotics]

Sitti, M.

IEEE Robotics \& Automation Magazine, 14(1):53-60, IEEE, 2007 (article)

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A new biomimetic adhesive for therapeutic capsule endoscope applications in the gastrointestinal tract

Glass, P., Sitti, M., Appasamy, R.

Gastrointestinal Endoscopy, 65(5):AB91, Mosby, 2007 (article)

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Visual servoing-based autonomous 2-D manipulation of microparticles using a nanoprobe

Onal, C. D., Sitti, M.

IEEE Transactions on control systems technology, 15(5):842-852, IEEE, 2007 (article)

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Bacteria integrated swimming microrobots

Behkam, B., Sitti, M.

In 50 years of artificial intelligence, pages: 154-163, Springer Berlin Heidelberg, 2007 (incollection)

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Adhesion of biologically inspired vertical and angled polymer microfiber arrays

Aksak, B., Murphy, M. P., Sitti, M.

Langmuir, 23(6):3322-3332, ACS Publications, 2007 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Waalbot: An agile small-scale wall-climbing robot utilizing dry elastomer adhesives

Murphy, M. P., Sitti, M.

IEEE/ASME transactions on Mechatronics, 12(3):330-338, IEEE, 2007 (article)

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Autonomous 2D microparticle manipulation based on visual feedback

Onal, C. D., Sitti, M.

In Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on, pages: 1-6, 2007 (inproceedings)

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STRIDE: A highly maneuverable and non-tethered water strider robot

Song, Y. S., Sitti, M.

In Robotics and Automation, 2007 IEEE International Conference on, pages: 980-984, 2007 (inproceedings)

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Subfeature patterning of organic and inorganic materials using robotic assembly

Tafazzoli, A., Cheng, C., Pawashe, C., Sabo, E. K., Trofin, L., Sitti, M., LeDuc, P. R.

Journal of materials research, 22(06):1601-1608, Cambridge University Press, 2007 (article)

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Dry spinning polymeric nano/microfiber arrays using glass micropipettes with controlled porosities and fiber diameters

Nain, A. S., Gupta, A., Amon, C., Sitti, M.

In Nanotechnology, 2007. IEEE-NANO 2007. 7th IEEE Conference on, pages: 728-732, 2007 (inproceedings)

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Effect of backing layer thickness on adhesion of single-level elastomer fiber arrays

Kim, S., Sitti, M., Hui, C., Long, R., Jagota, A.

Applied Physics Letters, 91(16):161905, AIP, 2007 (article)

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Adhesion and anisotropic friction enhancements of angled heterogeneous micro-fiber arrays with spherical and spatula tips

Murphy, M. P., Aksak, B., Sitti, M.

Journal of Adhesion Science and Technology, 21(12-13):1281-1296, Taylor & Francis Group, 2007 (article)

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Project Page [BibTex]


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Microrobotically fabricated biological scaffolds for tissue engineering

Nain, A. S., Chung, F., Rule, M., Jadlowiec, J. A., Campbell, P. G., Amon, C., Sitti, M.

In Robotics and Automation, 2007 IEEE International Conference on, pages: 1918-1923, 2007 (inproceedings)

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Surface-tension-driven biologically inspired water strider robots: Theory and experiments

Song, Y. S., Sitti, M.

IEEE Transactions on robotics, 23(3):578-589, IEEE, 2007 (article)

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Bacterial flagella assisted propulsion of patterned latex particles: Effect of particle size

Behkam, B., Sitti, M.

In Nanotechnology, 2007. IEEE-NANO 2007. 7th IEEE Conference on, pages: 723-727, 2007 (inproceedings)

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Project Page [BibTex]


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A scaled bilateral control system for experimental 1-D teleoperated nanomanipulation applications

Onal, C. D., Pawashe, C., Sitti, M.

In Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, pages: 483-488, 2007 (inproceedings)

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Guided Self-organisation for Autonomous Robot Development

Martius, G., Herrmann, J. M., Der, R.

In Advances in Artificial Life 9th European Conference, ECAL 2007, 4648, pages: 766-775, LNCS, Springer, 2007 (inproceedings)

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2006


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Let It Roll – Emerging Sensorimotor Coordination in a Spherical Robot

Der, R., Martius, G., Hesse, F.

In Proc, Artificial Life X, pages: 192-198, Intl. Society for Artificial Life, MIT Press, August 2006 (inproceedings)

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2006


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An ultrasonic standing-wave-actuated nano-positioning walking robot: piezoelectric-metal composite beam modeling

Son, K. J., Kartik, V., Wickert, J. A., Sitti, M.

Journal of vibration and control, 12(12):1293-1309, Sage Publications, 2006 (article)

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IEEE TRANSACTIONS ON ROBOTICS

VOLZ, RICHARD A, TARN, TJ, MACIEJEWSKI, ANTHONY A, LEE, SUKHAN, BICCHI, ANTONIO, DE LUCA, ALESSANDRO, LUH, PETER B, TAYLOR, RUSSELL H, BEKEY, GEORGE A, ARAI, HIROHIKO, others

2006 (article)

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Design methodology for biomimetic propulsion of miniature swimming robots

Behkam, B., Sitti, M.

Trans.-ASME Journal of Dynamic Systems Measurement and Control, 128(1):36, ASME, 2006 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Augmented reality user interface for an atomic force microscope-based nanorobotic system

Vogl, W., Ma, B. K., Sitti, M.

IEEE transactions on nanotechnology, 5(4):397-406, IEEE, 2006 (article)

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Friction enhancement via micro-patterned wet elastomer adhesives on small intestinal surfaces

Kwon, J., Cheung, E., Park, S., Sitti, M.

Biomedical Materials, 1(4):216, IOP Publishing, 2006 (article)

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From Motor Babbling to Purposive Actions: Emerging Self-exploration in a Dynamical Systems Approach to Early Robot Development

Der, R., Martius, G.

In Proc. From Animals to Animats 9, SAB 2006, 4095, pages: 406-421, LNCS, Springer, 2006 (inproceedings)

Abstract
Self-organization and the phenomenon of emergence play an essential role in living systems and form a challenge to artificial life systems. This is not only because systems become more lifelike, but also since self-organization may help in reducing the design efforts in creating complex behavior systems. The present paper studies self-exploration based on a general approach to the self-organization of behavior, which has been developed and tested in various examples in recent years. This is a step towards autonomous early robot development. We consider agents under the close sensorimotor coupling paradigm with a certain cognitive ability realized by an internal forward model. Starting from tabula rasa initial conditions we overcome the bootstrapping problem and show emerging self-exploration. Apart from that, we analyze the effect of limited actions, which lead to deprivation of the world model. We show that our paradigm explicitly avoids this by producing purposive actions in a natural way. Examples are given using a simulated simple wheeled robot and a spherical robot driven by shifting internal masses.

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Miniature endoscopic capsule robot using biomimetic micro-patterned adhesives

Karagozler, M. E., Cheung, E., Kwon, J., Sitti, M.

In Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on, pages: 105-111, 2006 (inproceedings)

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Compliant and low-cost humidity nanosensors using nanoporous polymer membranes

Yang, B., Aksak, B., Lin, Q., Sitti, M.

Sensors and Actuators B: Chemical, 114(1):254-262, Elsevier, 2006 (article)

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Task-based and stable telenanomanipulation in a nanoscale virtual environment

Kim, S., Sitti, M.

IEEE Transactions on automation science and engineering, 3(3):240-247, IEEE, 2006 (article)

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Drawing suspended polymer micro-/nanofibers using glass micropipettes

Nain, A. S., Wong, J. C., Amon, C., Sitti, M.

Applied Physics Letters, 89(18):183105, AIP, 2006 (article)

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Toward micro wall-climbing robots using biomimetic fibrillar adhesives

Greuter, M., Shah, G., Caprari, G., Tâche, F., Siegwart, R., Sitti, M.

In Proceedings of the 3rd International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE 2005), pages: 39-46, 2006 (inproceedings)

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Geckobot: A gecko inspired climbing robot using elastomer adhesives

Unver, O., Uneri, A., Aydemir, A., Sitti, M.

In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, pages: 2329-2335, 2006 (inproceedings)

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Towards hybrid swimming microrobots: bacteria assisted propulsion of polystyrene beads

Behkam, B., Sitti, M.

In Engineering in Medicine and Biology Society, 2006. EMBS’06. 28th Annual International Conference of the IEEE, pages: 2421-2424, 2006 (inproceedings)

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Project Page [BibTex]


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Biologically inspired polymer microfibers with spatulate tips as repeatable fibrillar adhesives

Kim, S., Sitti, M.

Applied Physics Letters, 89(26):261911-261911, AIP, 2006 (article)

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Soft microcontact printing with force control using microrobotic assembly based templates

Tafazzoli, A., Sitti, M.

In Advanced Motion Control, 2006. 9th IEEE International Workshop on, pages: 500-505, 2006 (inproceedings)

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Modeling of the supporting legs for designing biomimetic water strider robots

Song, Y. S., Suhr, S. H., Sitti, M.

In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, pages: 2303-2310, 2006 (inproceedings)

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Two-dimensional vision-based autonomous microparticle manipulation using a nanoprobe

Pawashe, C., Sitti, M.

Journal of Micromechatronics, 3(3):285-306, Brill, 2006 (article)

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A novel water running robot inspired by basilisk lizards

Floyd, S., Keegan, T., Palmisano, J., Sitti, M.

In Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pages: 5430-5436, 2006 (inproceedings)

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A biomimetic climbing robot based on the gecko

Menon, C., Sitti, M.

Journal of Bionic Engineering, 3(3):115-125, 2006 (article)

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Force-controlled microcontact printing using microassembled particle templates

Tafazzoli, A., Pawashe, C., Sitti, M.

In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, pages: 263-268, 2006 (inproceedings)

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Proximal probes based nanorobotic drawing of polymer micro/nanofibers

Nain, A. S., Amon, C., Sitti, M.

IEEE transactions on nanotechnology, 5(5):499-510, IEEE, 2006 (article)

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Waalbot: An agile small-scale wall climbing robot utilizing pressure sensitive adhesives

Murphy, M. P., Tso, W., Tanzini, M., Sitti, M.

In Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pages: 3411-3416, 2006 (inproceedings)

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Rocking Stamper and Jumping Snake from a Dynamical System Approach to Artificial Life

Der, R., Hesse, F., Martius, G.

Adaptive Behavior, 14(2):105-115, 2006 (article)

Abstract
Dynamical systems offer intriguing possibilities as a substrate for the generation of behavior because of their rich behavioral complexity. However this complexity together with the largely covert relation between the parameters and the behavior of the agent is also the main hindrance in the goal-oriented design of a behavior system. This paper presents a general approach to the self-regulation of dynamical systems so that the design problem is circumvented. We consider the controller (a neural net work) as the mediator for changes in the sensor values over time and define a dynamics for the parameters of the controller by maximizing the dynamical complexity of the sensorimotor loop under the condition that the consequences of the actions taken are still predictable. This very general principle is given a concrete mathematical formulation and is implemented in an extremely robust and versatile algorithm for the parameter dynamics of the controller. We consider two different applications, a mechanical device called the rocking stamper and the ODE simulations of a "snake" with five degrees of freedom. In these and many other examples studied we observed various behavior modes of high dynamical complexity.

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DOI [BibTex]

DOI [BibTex]