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Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm Diameter Robot |
|
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '09)
Mustafa Emre Karagozler, Seth Copen Goldstein, and J. Robert Reid
October, 2009
AbstractAs the size of the modules in a self-reconfiguring modular robotic system shrinks and the number of modules increases, the flexibility of the system as a whole increases. In this paper, we describe the manufacturing methods and mechanisms for a 1 millimeter diameter module which can be manufactured en masse. The module is the first step towards realizing the basic unit of claytronics, a modular robotic system designed to scale to millions of units.
download pdf
@inproceedings{karagozler-iros09,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Reid, J. Robert},
title = {Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm
Diameter Robot},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '09})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
see = {karagozler-iros09},
year = {2009},
month = {October},
abstract = {As the size of the modules in a self-reconfiguring
modular robotic system shrinks and the number of modules
increases, the flexibility of the system as a whole increases. In
this paper, we describe the manufacturing methods and mechanisms
for a 1 millimeter diameter module which can be manufactured en
masse. The module is the first step towards realizing the basic
unit of claytronics, a modular robotic system designed to scale
to millions of units.},
keywords = {Actuation, Adhesion, Robot Fabrication},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros09.pdf}
}
Related Papers
Adhesion |
|
Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm Diameter Robot | pdf bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and J. Robert Reid.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '09),
October, 2009.
See karagozler-iros09.
|
| @inproceedings{karagozler-iros09,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Reid, J. Robert},
title = {Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm
Diameter Robot},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '09})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
see = {karagozler-iros09},
year = {2009},
month = {October},
abstract = {As the size of the modules in a self-reconfiguring
modular robotic system shrinks and the number of modules
increases, the flexibility of the system as a whole increases. In
this paper, we describe the manufacturing methods and mechanisms
for a 1 millimeter diameter module which can be manufactured en
masse. The module is the first step towards realizing the basic
unit of claytronics, a modular robotic system designed to scale
to millions of units.},
keywords = {Actuation, Adhesion, Robot Fabrication},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros09.pdf}
}
|
|
A Modular Robotic System Using Magnetic Force Effectors | pdf bib | |
Brian Kirby, Burak Aksak, Seth Copen Goldstein, James F. Hoburg, Todd C. Mowry, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
October, 2007.
|
| @inproceedings{bkirby-iros07,
author = {Kirby, Brian and Aksak, Burak and Goldstein, Seth Copen
and Hoburg, James F. and Mowry, Todd C. and Pillai, Padmanabhan},
title = {A Modular Robotic System Using Magnetic Force Effectors},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
year = {2007},
month = {October},
abstract = {One of the primary impediments to building ensembles
with many modular robots is the complexity and number of
mechanical mechanisms used to construct the individual modules.
As part of the Claytronics project---which aims to build very
large ensembles of modular robots---we investigate how to
simplify each module by eliminating moving parts and reducing the
number of mechanical mechanisms on each robot by using
force-at-a-distance actuators. Additionally, we are also
investigating the feasibility of using these unary actuators to
improve docking performance, implement intermodule adhesion,
power transfer, communication, and sensing.},
keywords = {Actuation, Adhesion},
url = {http://www.cs.cmu.edu/~claytronics/papers/bkirby-iros07.pdf}
}
|
|
Adhesion Behavior of Vertical and Aligned Polymer Microfibers | pdf bib | |
M.P. Murphy, Burak Aksak, and Metin Sitti.
In Proceedings of Adhesion Society Symposium,
February, 2007.
|
| @inproceedings{aksak-pass07,
author = {Murphy, M.P. and Aksak, Burak and Sitti, Metin},
title = {Adhesion Behavior of Vertical and Aligned Polymer
Microfibers},
booktitle = {Proceedings of Adhesion Society Symposium},
venue = {Proceedings of Adhesion Society Symposium},
year = {2007},
month = {February},
keywords = {Adhesion, Dry Adhesive},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-pass07.pdf}
}
|
|
Adhesion and Anisotropic Friction Enhancements of
Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips | pdf bib | |
M.P. Murphy, Burak Aksak, and Metin Sitti.
Journal of Adhesion Science and Technology,
2007.
|
| @article{aksak-jast07,
author = {Murphy, M.P. and Aksak, Burak and Sitti, Metin},
title = {Adhesion and Anisotropic Friction Enhancements of Angled
Heterogeneous Micro-Fiber Arrays with Spherical and Spatula
Tips},
journal = {Journal of Adhesion Science and Technology},
venue = {Journal of Adhesion Science and Technology},
year = {2007},
institution = {NanoRobotics Laboratory, Department of Mechanical
Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania
15213},
abstract = {Angled polyurethane fiber arrays are modified by adding
soft spherical and spatula shaped tips by dipping. These fibers
are characterized for adhesion and friction and compared with
unmodified fibers and flat material samples. Sphere and spatula
tip fiber samples demonstrate increased adhesion, with 10 and 23
times the maximum adhesion of the unmodified fiber sample,
respectively. The sphere and spatula tip fiber samples also show
increased friction, with 1.6 and 4.7 times the maximum friction
of the unmodified fiber sample, respectively. Simultaneous
friction and adhesion is observed in a synthetic dry angled
fibrillar adhesive sample (spatula tip fiber sample) for the
first time. The direction dependent friction of angled fibers is
investigated and observed. The adhesion and friction results
reported in this paper suggest that fibers with negligible
adhesion can be modified to exhibit significant adhesion and
friction enhancement by the proposed fiber tip modifications.},
keywords = {Gecko, Adhesion, Angled Fiber Array, Friction, Dry
Adhesive, Bioinspired adhesive},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-jast07.pdf}
}
|
|
Adhesion of Biologically Inspired Vertical and Angled Polymer Microfiber Arrays | pdf bib | |
Burak Aksak, M.P. Murphy, and Metin Sitti.
Langmuir,
23(6):3322–32,February, 2007.
|
| @article{aksak-langmuir2007,
author = {Aksak, Burak and Murphy, M.P. and Sitti, Metin},
title = {Adhesion of Biologically Inspired Vertical and Angled
Polymer Microfiber Arrays},
journal = {Langmuir},
venue = {Langmuir},
year = {2007},
month = {February},
volume = {23},
pages = {3322--32},
number = {6},
institution = {NanoRobotics Laboratory, Department of Mechanical
Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania
15213},
issn = {0743-7463},
keywords = {Adhesion, Biologically Inspired},
abstract = {This paper proposes an approximate adhesion model for
fibrillar adhesives for developing a fibrillar adhesive design
methodology and compares numerical simulation adhesion results
with macroscale adhesion data from polymer microfiber array
experiments. A technique for fabricating microfibers with a
controlled angle is described for the first time. Polyurethane
microfibers with different hardnesses, angles, and aspect ratios
are fabricated using optical lithography and polymer micromolding
techniques and tested with a custom tensile adhesion measurement
setup. Macroscale adhesion and overall work of adhesion of the
microfiber arrays are measured and compared with the models to
observe the effect of fiber geometry and preload. The adhesion
strength and work of adhesion behavior of short and long vertical
and long angled fiber arrays have similar trends with the
numerical simulations. A scheme is also proposed to aid in
optimized fiber adhesive design.},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-langmuir2007.pdf}
}
|
|
Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots | pdf bib | |
Mustafa Emre Karagozler, Jason D. Campbell, Gary K. Fedder, Seth Copen Goldstein, Michael Philetus Weller, and Byung W. Yoon.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
October, 2007.
See karagozler-msreport07.
|
| @inproceedings{karagozler-iros07,
author = {Karagozler, Mustafa Emre and Campbell, Jason D. and
Fedder, Gary K. and Goldstein, Seth Copen and Weller, Michael
Philetus and Yoon, Byung W.},
title = {Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
see = {karagozler-msreport07},
year = {2007},
month = {October},
abstract = {A simple and robust inter-module latch is possibly the
most important component of a modular robotic system. This paper
describes a latch based on capacitive coupling which not only
provides significant adhesion forces, but can also be used for
inter-module power transmission and communication. The key
insight that enables electrostatic adhesion to be effective at
the macroscale is to combine flexible electrodes with a geometery
that uses shear forces to provide adhesion. To measure the
effectiveness of our latch we incorporated it into a 28cm x 28cm
x 28cm modular robot. The result is a latch which requires almost
zero static power and yet can hold over 0.6N/cm^2 of latch
area.},
keywords = {Actuation, Adhesion},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros07.pdf}
}
|
|
Harnessing Capacitance for Inter-Robot Latching, Communication, and Power Transfer | pdf bib | |
Mustafa Emre Karagozler.
Master's Thesis, Carnegie Mellon University,
May, 2007.
Also appeared as Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots in IROS '07.
|
| @mastersthesis{karagozler-msreport07,
author = {Karagozler, Mustafa Emre},
title = {Harnessing Capacitance for Inter-Robot Latching,
Communication, and Power Transfer},
venue = {Masters Thesis},
also = {Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots in IROS '07},
month = {May},
year = {2007},
school = {Carnegie Mellon University},
abstract = {A simple and robust inter-module latch is possibly the
most important component of a modular robotic system. This report
describes a latch based on capacitive coupling which not only
provides significant adhesion forces, but can also be used for
inter-module power transmission and communication. The key
insight that enables electrostatic adhesion to be effective at
the macro scale is to combine flexible electrodes with a geometry
that uses shear forces to provide adhesion. To measure the
effectiveness of our latch we incorporated it into a 28cm x 28cm
x 28cm modular robot. The result is a latch which requires almost
zero static power and yet can hold over 0.6N/cm2 of latch area.},
keywords = {Actuation, Adhesion, Power},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-msreport07.pdf}
}
|
|
Movement Primitives for an Orthogonal Prismatic Closed-Lattice-Constrained Self-Reconfiguring Module | pdf bib | |
Michael Philetus Weller, Mustafa Emre Karagozler, Brian Kirby, Jason D. Campbell, and Seth Copen Goldstein.
In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07,
October, 2007.
|
| @inproceedings{weller-iros07,
author = {Weller, Michael Philetus and Karagozler, Mustafa Emre and
Kirby, Brian and Campbell, Jason D. and Goldstein, Seth Copen},
title = {Movement Primitives for an Orthogonal Prismatic
Closed-Lattice-Constrained Self-Reconfiguring Module},
booktitle = {Workshop on Self-Reconfiguring Modular Robotics at the
IEEE International Conference on Intelligent Robots and Systems
(IROS) '07},
venue = {Workshop on Self-Reconfigurable Robots/Systems and
Applications at IROS},
year = {2007},
month = {October},
keywords = {Adhesion, Robotics, Planning},
abstract = {We describe a new set of prismatic movement primitives
for cubic modular robots. Our approach appears more practical
than previous metamodule-based approaches. We also describe
recent hardware developments in our cubic robot modules that have
sufficient stiffness and actuator strength so that when they work
together they can realize, in earth's gravity, all of the motion
primitives we describe here.},
url = {http://www.cs.cmu.edu/~claytronics/papers/weller-iros07.pdf}
}
|
Actuation |
|
Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm Diameter Robot | pdf bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and J. Robert Reid.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '09),
October, 2009.
See karagozler-iros09.
|
| @inproceedings{karagozler-iros09,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Reid, J. Robert},
title = {Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm
Diameter Robot},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '09})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
see = {karagozler-iros09},
year = {2009},
month = {October},
abstract = {As the size of the modules in a self-reconfiguring
modular robotic system shrinks and the number of modules
increases, the flexibility of the system as a whole increases. In
this paper, we describe the manufacturing methods and mechanisms
for a 1 millimeter diameter module which can be manufactured en
masse. The module is the first step towards realizing the basic
unit of claytronics, a modular robotic system designed to scale
to millions of units.},
keywords = {Actuation, Adhesion, Robot Fabrication},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros09.pdf}
}
|
|
A Modular Robotic System Using Magnetic Force Effectors | pdf bib | |
Brian Kirby, Burak Aksak, Seth Copen Goldstein, James F. Hoburg, Todd C. Mowry, and Padmanabhan Pillai.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
October, 2007.
|
| @inproceedings{bkirby-iros07,
author = {Kirby, Brian and Aksak, Burak and Goldstein, Seth Copen
and Hoburg, James F. and Mowry, Todd C. and Pillai, Padmanabhan},
title = {A Modular Robotic System Using Magnetic Force Effectors},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
year = {2007},
month = {October},
abstract = {One of the primary impediments to building ensembles
with many modular robots is the complexity and number of
mechanical mechanisms used to construct the individual modules.
As part of the Claytronics project---which aims to build very
large ensembles of modular robots---we investigate how to
simplify each module by eliminating moving parts and reducing the
number of mechanical mechanisms on each robot by using
force-at-a-distance actuators. Additionally, we are also
investigating the feasibility of using these unary actuators to
improve docking performance, implement intermodule adhesion,
power transfer, communication, and sensing.},
keywords = {Actuation, Adhesion},
url = {http://www.cs.cmu.edu/~claytronics/papers/bkirby-iros07.pdf}
}
|
|
Collective Actuation | bib | |
Jason D. Campbell and Padmanabhan Pillai.
International Journal of Robotics Research,
2007.
|
| @article{campbell-ijrr-srmr,
author = {Campbell, Jason D. and Pillai, Padmanabhan},
title = {Collective Actuation},
journal = {International Journal of Robotics Research},
venue = {International Journal of Robotics Research},
year = {2007},
keywords = {Actuation, Controlling Ensembles},
abstract = {Modular robot designers confront an inherent tradeoff
between size and power: Smaller, more numerous modules increase
the adaptability of a given volume or mass of robot---allowing
the aggregate robot to take on a wider variety of
configurations---but do so at a cost of reducing the power and
complexity budget of each module. Fewer, larger modules can
incorporate more powerful actuators and stronger hinges but at a
cost of overspecializing the resulting robot in favor of
corresponding uses. In the paper we describe a technique for
coordinating the efforts of many tiny modules to achieve forces
and movements larger than those possible for individual modules.
In a broad sense, the question of actuator capacity and range
thus may become one of software coding and ensemble topology as
well as of hardware design. An important aspect of this technique
is its ability to bend complex and large-scale structures and to
realize the equivalent of large scale joints. Although our
results do not suggest that modular robots will replace high
power purpose-built robots, they do offer an increase in the
plausible scalability of modular robot self-reconfiguration and
facilitate a corresponding increase in adaptability.}
}
|
|
Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots | pdf bib | |
Mustafa Emre Karagozler, Jason D. Campbell, Gary K. Fedder, Seth Copen Goldstein, Michael Philetus Weller, and Byung W. Yoon.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07),
October, 2007.
See karagozler-msreport07.
|
| @inproceedings{karagozler-iros07,
author = {Karagozler, Mustafa Emre and Campbell, Jason D. and
Fedder, Gary K. and Goldstein, Seth Copen and Weller, Michael
Philetus and Yoon, Byung W.},
title = {Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '07})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
see = {karagozler-msreport07},
year = {2007},
month = {October},
abstract = {A simple and robust inter-module latch is possibly the
most important component of a modular robotic system. This paper
describes a latch based on capacitive coupling which not only
provides significant adhesion forces, but can also be used for
inter-module power transmission and communication. The key
insight that enables electrostatic adhesion to be effective at
the macroscale is to combine flexible electrodes with a geometery
that uses shear forces to provide adhesion. To measure the
effectiveness of our latch we incorporated it into a 28cm x 28cm
x 28cm modular robot. The result is a latch which requires almost
zero static power and yet can hold over 0.6N/cm^2 of latch
area.},
keywords = {Actuation, Adhesion},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros07.pdf}
}
|
|
From Roles to Anatomy to Scalable Modular Self-Reconfigurable Robots | bib | |
David Johan Christensen and Jason D. Campbell.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems IROS '07,
2007.
|
| @inproceedings{Christensen-iros07,
author = {Christensen, David Johan and Campbell, Jason D.},
title = {From Roles to Anatomy to Scalable Modular
Self-Reconfigurable Robots},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems {IROS '07}},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
keywords = {Biologically Inspired, Actuation, Controlling
Ensembles},
year = {2007}
}
|
|
Harnessing Capacitance for Inter-Robot Latching, Communication, and Power Transfer | pdf bib | |
Mustafa Emre Karagozler.
Master's Thesis, Carnegie Mellon University,
May, 2007.
Also appeared as Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots in IROS '07.
|
| @mastersthesis{karagozler-msreport07,
author = {Karagozler, Mustafa Emre},
title = {Harnessing Capacitance for Inter-Robot Latching,
Communication, and Power Transfer},
venue = {Masters Thesis},
also = {Electrostatic Latching for Inter-module Adhesion, Power
Transfer, and Communication in Modular Robots in IROS '07},
month = {May},
year = {2007},
school = {Carnegie Mellon University},
abstract = {A simple and robust inter-module latch is possibly the
most important component of a modular robotic system. This report
describes a latch based on capacitive coupling which not only
provides significant adhesion forces, but can also be used for
inter-module power transmission and communication. The key
insight that enables electrostatic adhesion to be effective at
the macro scale is to combine flexible electrodes with a geometry
that uses shear forces to provide adhesion. To measure the
effectiveness of our latch we incorporated it into a 28cm x 28cm
x 28cm modular robot. The result is a latch which requires almost
zero static power and yet can hold over 0.6N/cm2 of latch area.},
keywords = {Actuation, Adhesion, Power},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-msreport07.pdf}
}
|
|
Locomotion of Miniature Catom Chains: Scale Effects on Gait and Velocity | bib | |
David Johan Christensen and Jason D. Campbell.
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07),
April, 2007.
|
| @inproceedings{Christensen-icra07,
author = {Christensen, David Johan and Campbell, Jason D.},
title = {Locomotion of Miniature Catom Chains: Scale Effects on Gait
and Velocity},
booktitle = {Proceedings of the IEEE International Conference on
Robotics and Automation ({ICRA '07})},
venue = {IEEE International Conference on Robotics and Automation
(ICRA)},
month = {April},
keywords = {Biologically Inspired, Actuation, Controlling
Ensembles},
year = {2007}
}
|
|
Collective Actuation | pdf bib | |
Jason D. Campbell and Padmanabhan Pillai.
In RSS 2006 Workshop on Self-Reconfigurable Modular Robots,
August, 2006.
|
| |
Robot Fabrication |
|
Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm Diameter Robot | pdf bib | |
Mustafa Emre Karagozler, Seth Copen Goldstein, and J. Robert Reid.
In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '09),
October, 2009.
See karagozler-iros09.
|
| @inproceedings{karagozler-iros09,
author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
Reid, J. Robert},
title = {Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm
Diameter Robot},
booktitle = {Proceedings of the IEEE International Conference on
Intelligent Robots and Systems ({IROS '09})},
venue = {IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS)},
see = {karagozler-iros09},
year = {2009},
month = {October},
abstract = {As the size of the modules in a self-reconfiguring
modular robotic system shrinks and the number of modules
increases, the flexibility of the system as a whole increases. In
this paper, we describe the manufacturing methods and mechanisms
for a 1 millimeter diameter module which can be manufactured en
masse. The module is the first step towards realizing the basic
unit of claytronics, a modular robotic system designed to scale
to millions of units.},
keywords = {Actuation, Adhesion, Robot Fabrication},
url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros09.pdf}
}
|
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