Stress-Driven MEMS Assembly + Electrostatic Forces = 1mm Diameter Robot

@article{kgr12a,
  author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
     Ricketts, David S.},
  journal = {Circuits and Systems I: Regular Papers, IEEE Transactions
     on},
  title = {Analysis and Modeling of Capacitive Power Transfer in
     Microsystems},
  year = {2012},
  month = {Jul},
  volume = {59},
  number = {7},
  pages = {1557--1566},
  keywords = {Actuation, Adhesion,Power},
  doi = {10.1109/TCSI.2011.2177011},
  issn = {1549-8328},
}

@inproceedings{karagozler-iros09,
  author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
     Reid, James 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 = {Oct},
  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},
}

@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})},
  year = {2007},
  month = {Oct},
  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 = {Claytronics, Actuation, Adhesion},
  url = {http://www.cs.cmu.edu/~claytronics/papers/bkirby-iros07.pdf},
}

@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})},
  year = {2007},
  month = {Oct},
  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, Claytronics},
  url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros07.pdf},
}

@article{kgr12a,
  author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
     Ricketts, David S.},
  journal = {Circuits and Systems I: Regular Papers, IEEE Transactions
     on},
  title = {Analysis and Modeling of Capacitive Power Transfer in
     Microsystems},
  year = {2012},
  month = {Jul},
  volume = {59},
  number = {7},
  pages = {1557--1566},
  keywords = {Actuation, Adhesion,Power},
  doi = {10.1109/TCSI.2011.2177011},
  issn = {1549-8328},
}

@inproceedings{karagozler-iros09,
  author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
     Reid, James 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 = {Oct},
  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},
}

@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})},
  year = {2007},
  month = {Oct},
  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 = {Claytronics, Actuation, Adhesion},
  url = {http://www.cs.cmu.edu/~claytronics/papers/bkirby-iros07.pdf},
}

@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})},
  year = {2007},
  month = {Oct},
  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, Claytronics},
  url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros07.pdf},
}

@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},
  year = {2007},
  month = {Oct},
  keywords = {Claytronics, 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},
}

@inproceedings{karagozler-iros09,
  author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
     Reid, James 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 = {Oct},
  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},
}