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Manufacturing of two and three-dimensional micro/nanostructures by integrating optical tweezers with chemical assembly
(2003)2003 Third IEEE Conference on Nanotechnology (IEEE-NANO 2003)Optical tweezers have been used as versatile tools for non-contact manipulation of micrometer-sized particles. This paper proposes a hybrid micro/nanoscale manufacturing system using optical tweezers and chemical linkages for fabricating 2D and 3D micro/nanostructures. A holographic multiple trap optical tweezer system is first used to trap particles in a desired pattern. The particles are then connected to form rigid units using suitable ...Conference Paper -
Synthetic gecko foot-hair micro/nano-structures for future wall-climbing robots
(2003)2003 IEEE International Conference on Robotics and AutomationThis paper proposes techniques to fabricate synthetic gecko foot-hairs for future wall-climbing robots, and models for understanding the synthetic hair design issues. Two nanomolding fabrication techniques are proposed: the first method uses nanoprobe indented flat wax surface and the second one uses a nano-pore membrane as a template. These templates are molded with silicone rubber, polyimide, etc. type of polymer under vacuum. Next, ...Conference Paper -
Towards flapping wing control for a micromechanical flying insect
(2001)Proceedings of the 2001 IEEE International Conference on Robotics & Automation (ICRA)Considers a 2 DOF resonant thorax structure signed and fabricated for the MFI project. Miniature piezoelectric PZN-PT unimorph actuators were fabricated and used to drive a four-bar transmission mechanism. The current thorax design utilizes two actuated four-bars and a spherical joint to drive a rigid wing. Rotationally compliant flexure joints have been tested with lifetimes over 10/sup 6/ cycles. Wing spars were instrumented with strain ...Conference Paper -
Modeling and design of biomimetic adhesives inspired by gecko foot-hairs
(2004)2004 IEEE International Conference on Robotics and BiomimeticsThis novel research work is motivated by the fascinating climbing ability of geckos. Recent experiments on the attachment mechanism of gecko feet have confirmed that van der Waals forces dominate gecko adhesion. Images of gecko feet have revealed a very intricate hierarchical fiber structures. These fibers are primarily responsible for the important properties of the gecko feet including strong adhesion, easy detachment, rough surface ...Conference Paper -
Miniature endoscopic capsule robot using biomimetic micro-patterned adhesives
(2006)The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006)This paper presents a stopping and a locomotion mechanism to be used with an endoscopic microcapsule robot. In the diagnosis of gastrointestinal diseases, microcapsules have been developed recently as alternatives to conventional endoscopy. However, they have less accuracy and functionality in diagnosis as they lack the ability to control their position. We propose mechanisms to be used with such microcapsules that would enable them to ...Conference Paper -
Dynamic Modeling of a Basilisk Lizard Inspired Quadruped Robot Running on Water
(2008)2008 IEEE/RSJ International Conference on Intelligent Robots and SystemsThis paper proposes a 3-D dynamic simulation of a previously developed basilisk lizard inspired quadruped robot, which is capable of locomotion on the surface of water. Using this 3-D simulation along with several 1-D and 2-D models, stability in terms of robot elevation from the water surface and robot rolling are examined. Analysis of the lifting force shows the robot is capable of running on water using viscous drag forces. Using this ...Conference Paper -
A miniature ceiling walking robot with flat tacky elastomeric footpads
(2009)2009 IEEE International Conference on Robotics and AutomationIn this paper, the design, analysis, and development of a sixteen-legged palm-sized climbing robot using flat bulk tacky elastomer adhesives as an attachment method is presented. A legged robot with four-bar based kinematics is designed and fabricated with elastomeric footpads. The proposed robot has a passive peeling mechanism for energy efficient and vibration free detachment. A rocker-type mechanism in the leg and compliant foam under ...Conference Paper -
A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives
(2005)2005 IEEE/ASME International Conference on Advanced Intelligent MechatronicsThe diagnosis of gastrointestinal diseases within the small intestine has been greatly advanced with the introduction of the endoscopic microcapsule in recent years. In an effort to increase its reliability and expand its functionality, a mechanism for stopping and locomoting the capsule within the digestive tract is proposed in this paper. This mechanism, actuated by shape memory alloy wires, utilizes a synthetic microfibrillar adhesive ...Conference Paper -
Nanomanipulation with 3D visual and force feedback using atomic force microscopes
(2004)4th IEEE International Conference on NanotechnologyAtomic force microscopes (AFM) have been widely used for nanomanipulation throughout the last decade. Due to the design of AFMs, forces exerted on the AFM-tip cannot be resolved in 3D and no visual feedback can be obtained during manipulation. In this paper, we present an augmented reality approach for nanomanipulation interfaces, in which nano-scale 3D topography and force information sensed by the AFM-probe are blended with real time ...Conference Paper -
Piezoelectric Ultrasonic Resonant Micromotor with a Volume of Less Than 1 mm(3) for use in Medical Microbots
(2009)2009 IEEE International Conference on Robotics and AutomationTo improve on current methods of minimally invasive surgery, research is being carried out on systems that will permit procedures to be conducted on the micro-scale using remotely operated micro-robots. One of the major stumbling blocks to meeting this need has been the absence of a practical micromotor with a volume of less than 1 mm³ with which to drive these devices. To rectify this, we present a piezoelectric ultrasonic resonant ...Conference Paper