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GeckoGripper: A Soft, Inflatable Robotic Gripper using Gecko-Inspired Elastomer Micro-Fiber Adhesives
(2014)2014 IEEE/RSJ International Conference on Intelligent Robots and SystemsThis paper proposes GeckoGripper, a novel soft, inflatable gripper based on the controllable adhesion mechanism of gecko-inspired micro-fiber adhesives, to pick-and-place complex and fragile non-planar or planar parts serially or in parallel. Unlike previous fibrillar structures that use peel angle to control the manipulation of parts, we developed an elastomer micro-fiber adhesive that is fabricated on a soft, flexible membrane, increasing ...Conference Paper -
Three-Dimensional Robotic Manipulation and Transport of Micro-Scale Objects by a Magnetically Driven Capillary Micro-Gripper
(2014)2014 IEEE International Conference on Robotics and Automation (ICRA)One major challenge for untethered micro-scale mobile robotics is the manipulation of external objects in the robot's three-dimensional (3D) work environment. Here, we present a method to use the capillary force at a solid-liquid-gas interface to reversibly attach objects to a mobile magnetic microrobot. This is accomplished by the addition of a cavity in the hydrophobic microrobot, in which an air bubble is captured when the microrobot ...Conference Paper -
Addressing of micro-robot teams and non-contact micro-manipulation
(2014)Lecture Notes in Artificial Intelligence ~ Small-Scale Robotics From Nano-to-Millimeter-Sized Robotic Systems and ApplicationsThis manuscript presents two methods for the addressable control of multiple magnetic microrobots. Such methods could be valued for microrobot applications requiring high speed parallel operation. The first uses multiple magnetic materials to enable selective magnetic disabling while the second allows for independent magnetic forces to be applied to a set of magnetic micro-robots moving in three dimensions. As an application of untethered ...Conference Paper -
Versatile Non-Contact Micro-Manipulation Method Using Rotational Flows Locally Induced by Magnetic Microrobots
(2014)2014 IEEE/ASME International Conference on Advanced Intelligent MechatronicsWe present a versatile non-contact micromanipulation approach using the rotational flows locally induced by rotation of spherical magnetic microrobots in liquid environments. Micro-scale objects in close vicinity to the rotating microrobot are trapped inside the induced rotational flows and carried along with the robot as it translates on a planar surface by rotational motion. The proposed approach can handle a wide range of object sizes, ...Conference Paper