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2012


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Methods, apparatuses, and systems for micromanipulation with adhesive fibrillar structures

Sitti, M., Mengüç, Y.

December 2012, US Patent App. 14/368,079 (misc)

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[BibTex]

2012



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Dry adhesive structures

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

December 2012, US Patent App. 13/533,386 (misc)

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[BibTex]

[BibTex]


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Methods of making dry adhesives

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

June 2012, US Patent 8,206,631 (misc)

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[BibTex]

[BibTex]


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Dry adhesives and methods for making dry adhesives

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

March 2012, US Patent App. 13/429,621 (misc)

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[BibTex]

[BibTex]


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Model Learning and Real-Time Tracking Using Multi-Resolution Surfel Maps

Stueckler, J., Behnke, S.

Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2012 (conference)

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link (url) [BibTex]

link (url) [BibTex]


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A new seam-tracking algorithm through characteristic-point detection for a portable welding robot

Chang, D., Son, D., Lee, J., Lee, D., Kim, T., Lee, K., Kim, J.

Robotics and Computer-Integrated Manufacturing, 28, 2012 (article)

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[BibTex]

[BibTex]


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Experimentelle Induktion beeinträchtigter Aufmerksamkeit im Kontext des seductive detail Effekts

Wirzberger, M.

University of Hagen, 2012 (thesis)

Abstract
Die vorliegende Arbeit untersucht ausgehend von der Cognitive Theory of Multimedia Learning (CTML) einen aufmerksamkeitsbezogenen Erklärungsansatz für den seductive detail Effekt. Dieser Effekt resultiert aus dem Einfügen interessanter, jedoch irrelevanter Informationen in einen Lerntext, die die Lernleistung beeinträchtigen. Im Besonderen steht hier die Hypothese im Fokus, dass sich seductive details stärker auswirken, wenn bereits eine Beeinträchtigung der Aufmerksamkeit vorliegt. Im Rahmen einer experimentellen Erhebung mit 53 Studierenden wurde anhand eines 2x2-faktoriellen, multivariaten Designs die Anwesenheit von seductive details (durch seduktive Textpassagen), sowie beeinträchtigter Aufmerksamkeit (durch die Einblendung ablenkender Systemmitteilungen), gezielt manipuliert und deren Effekt auf die Behaltens- und Verstehensleistung, sowie die Lernzeit erfasst. In den Analysen zeigte sich eine signifikante Verlängerung der Lernzeit durch das Einfügen seduktiver Textpassagen, und darüber hinaus wurde auch ein moderierender Einfluss des bestehenden Aufmerksamkeitsniveaus deutlich. Weder die Behaltens- noch die Verstehensleistung verringerte sich jedoch signifikant durch das Hinzufügen von seductive details oder die Induktion beeinträchtigter Aufmerksamkeit, und auch eine signifikante Wechselwirkung zwischen beiden Aspekten wurde nicht deutlich. Daher wird abschließend die Relevanz komplexer statistischer Analyseverfahren zur weiteren Erhellung der zugrundeliegenden Wirkmechanismen diskutiert.

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DOI [BibTex]


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RoboCup@Home: Demonstrating Everyday Manipulation Skills in RoboCup@Home

Stueckler, J., Holz, D., Behnke, S.

IEEE Robotics and Automation Magazine (RAM), 19(2):34-42, 2012 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots

Stueckler, J., Droeschel, D., Gräve, K., Holz, D., Kläß, J., Schreiber, M., Steffens, R., Behnke, S.

In RoboCup 2011, Robot Soccer World Cup XV, pages: 51-62, Springer, 2012 (inbook)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Encoding of Periodic and their Transient Motions by a Single Dynamic Movement Primitive

Ernesti, J., Righetti, L., Do, M., Asfour, T., Schaal, S.

In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pages: 57-64, IEEE, Osaka, Japan, November 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Automated Tip-Based 2-D Mechanical Assembly of Micro/Nanoparticles

Onal, C. D., Ozcan, O., Sitti, M.

In Feedback Control of MEMS to Atoms, pages: 69-108, Springer US, 2012 (incollection)

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[BibTex]

[BibTex]


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Topological optimization for continuum compliant mechanisms via morphological evolution of traditional mechanisms

Lum, GZ, Yeo, SH, Yang, GL, Teo, TJ, Sitti, M

In 4th International Conference on Computational Methods, pages: 8, 2012 (inproceedings)

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[BibTex]

[BibTex]


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Two-dimensional autonomous microparticle manipulation strategies for magnetic microrobots in fluidic environments

Pawashe, C., Floyd, S., Diller, E., Sitti, M.

IEEE Transactions on Robotics, 28(2):467-477, IEEE, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Cooperative micromanipulation using optically controlled bubble microrobots

Ishii, K. S., Hu, W., Ohta, A. T.

In Robotics and Automation (ICRA), 2012 IEEE International Conference on, pages: 3443-3448, 2012 (inproceedings)

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[BibTex]

[BibTex]


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Bayesian calibration of the hand-eye kinematics of an anthropomorphic robot

Hubert, U., Stueckler, J., Behnke, S.

In Proc. of the 12th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 618-624, November 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Shape-Primitive Based Object Recognition and Grasping

Nieuwenhuisen, M., Stueckler, J., Berner, A., Klein, R., Behnke, S.

In Proc. of ROBOTIK, VDE-Verlag, 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Learning Force Control Policies for Compliant Robotic Manipulation

Kalakrishnan, M., Righetti, L., Pastor, P., Schaal, S.

In ICML’12 Proceedings of the 29th International Coference on International Conference on Machine Learning, pages: 49-50, Edinburgh, Scotland, 2012 (inproceedings)

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[BibTex]

[BibTex]


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Three-dimensional microfiber devices that mimic physiological environments to probe cell mechanics and signaling

Ruder, W. C., Pratt, E. D., Bakhru, S., Sitti, M., Zappe, S., Cheng, C., Antaki, J. F., LeDuc, P. R.

Lab on a Chip, 12(10):1775-1779, Royal Society of Chemistry, 2012 (article)

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[BibTex]

[BibTex]


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Active visual search in unknown environments using uncertain semantics

Aydemir, Alper, Pronobis, Andrzej, Jensfelt, Patric, Sj, Kristoffer, Aydemir, Alper, Jensfelt, Patric, Aydemir, A, Jensfelt, P, Aydemir, A, Jensfelt, P, others

Transactions, 1, pages: 2329-2335, IEEE, 2012 (article)

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[BibTex]

[BibTex]


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Modelling of conductive atomic force microscope probes for scanning tunnelling microscope operation

Ozcan, O, Sitti, M

IET Micro \& Nano Letters, 7(4):329-333, IET, 2012 (article)

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[BibTex]

[BibTex]


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Shape memory polymer-based flexure stiffness control in a miniature flapping-wing robot

Hines, L., Arabagi, V., Sitti, M.

IEEE Transactions on Robotics, 28(4):987-990, IEEE, 2012 (article)

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[BibTex]

[BibTex]


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Micro-manipulation using rotational fluid flows induced by remote magnetic micro-manipulators

Ye, Z., Diller, E., Sitti, M.

Journal of Applied Physics, 112(6):064912, AIP, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Remotely addressable magnetic composite micropumps

Diller, E., Miyashita, S., Sitti, M.

Rsc Advances, 2(9):3850-3856, Royal Society of Chemistry, 2012 (article)

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[BibTex]

[BibTex]


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Flapping Wings with DC-Motors via Direct, Elastic Transmissions

Azhar, M., Campolo, D., Lau, G., Sitti, M.

In Proceedings of International Conference on Intelligent Unmanned Systems, 8, 2012 (inproceedings)

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[BibTex]

[BibTex]


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Investigation of bioinspired gecko fibers to improve adhesion of HeartLander surgical robot

Tortora, G., Glass, P., Wood, N., Aksak, B., Menciassi, A., Sitti, M., Riviere, C.

In Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE, pages: 908-911, 2012 (inproceedings)

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[BibTex]

[BibTex]


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Magnetic hysteresis for multi-state addressable magnetic microrobotic control

Diller, E., Miyashita, S., Sitti, M.

In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pages: 2325-2331, 2012 (inproceedings)

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[BibTex]

[BibTex]


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Semantic mapping using object-class segmentation of RGB-D images

Stueckler, J., Biresev, N., Behnke, S.

In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pages: 3005-3010, October 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Efficient Mobile Robot Navigation using 3D Surfel Grid Maps

Kläß, J., Stueckler, J., Behnke, S.

In Proc. of ROBOTIK, VDE-Verlag, 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Quadratic programming for inverse dynamics with optimal distribution of contact forces

Righetti, L., Schaal, S.

In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pages: 538-543, IEEE, Osaka, Japan, November 2012 (inproceedings)

Abstract
In this contribution we propose an inverse dynamics controller for a humanoid robot that exploits torque redundancy to minimize any combination of linear and quadratic costs in the contact forces and the commands. In addition the controller satisfies linear equality and inequality constraints in the contact forces and the commands such as torque limits, unilateral contacts or friction cones limits. The originality of our approach resides in the formulation of the problem as a quadratic program where we only need to solve for the control commands and where the contact forces are optimized implicitly. Furthermore, we do not need a structured representation of the dynamics of the robot (i.e. an explicit computation of the inertia matrix). It is in contrast with existing methods based on quadratic programs. The controller is then robust to uncertainty in the estimation of the dynamics model and the optimization is fast enough to be implemented in high bandwidth torque control loops that are increasingly available on humanoid platforms. We demonstrate properties of our controller with simulations of a human size humanoid robot.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Shape-Programmable Soft Capsule Robots for Semi-Implantable Drug Delivery

Yim, S., Sitti, M.

Mechatronics, IEEE/ASME Transactions on, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Control of multiple heterogeneous magnetic microrobots in two dimensions on nonspecialized surfaces

Diller, E., Floyd, S., Pawashe, C., Sitti, M.

IEEE Transactions on Robotics, 28(1):172-182, IEEE, 2012 (article)

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[BibTex]

[BibTex]


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Gecko-Inspired Controllable Adhesive Structures Applied to Micromanipulation

Mengüç, Y., Yang, S. Y., Kim, S., Rogers, J. A., Sitti, M.

Advanced Functional Materials, 22(6):1245-1245, WILEY-VCH Verlag, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Elastomer surfaces with directionally dependent adhesion strength and their use in transfer printing with continuous roll-to-roll applications

Yang, S. Y., Carlson, A., Cheng, H., Yu, Q., Ahmed, N., Wu, J., Kim, S., Sitti, M., Ferreira, P. M., Huang, Y., others,

Advanced Materials, 24(16):2117-2122, WILEY-VCH Verlag, 2012 (article)

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[BibTex]

[BibTex]


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Effect of retraction speed on adhesion of elastomer fibrillar structures

Abusomwan, U., Sitti, M.

Applied Physics Letters, 101(21):211907, AIP, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Micro-assembly using optically controlled bubble microrobots in saline solution

Hu, W., Ishii, K. S., Ohta, A. T.

In Robotics and Automation (ICRA), 2012 IEEE International Conference on, pages: 733-738, 2012 (inproceedings)

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[BibTex]

[BibTex]


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A liquid-metal reconfigurable double-stub tuner

Lei, B. J., Hu, W., Ohta, A. T., Shiroma, W. A.

In Microwave Symposium Digest (MTT), 2012 IEEE MTT-S International, pages: 1-3, 2012 (inproceedings)

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[BibTex]

[BibTex]


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Integrating depth and color cues for dense multi-resolution scene mapping using RGB-D cameras

Stueckler, J., Behnke, S.

In Proc. of the IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI), pages: 162-167, sep 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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SURE: Surface Entropy for Distinctive 3D Features

Fiolka, T., Stueckler, J., Klein, D. A., Schulz, D., Behnke, S.

In Proc. of Spatial Cognition, 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Robust Real-Time Registration of RGB-D Images using Multi-Resolution Surfel Representations

Stueckler, J., Behnke, S.

In Proc. of ROBOTIK, VDE-Verlag, 2012 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Burn-in, bias, and the rationality of anchoring

Lieder, F., Griffiths, T. L., Goodman, N. D.

Advances in Neural Information Processing Systems 25, pages: 2699-2707, 2012 (article)

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[BibTex]

[BibTex]


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Towards Associative Skill Memories

Pastor, P., Kalakrishnan, M., Righetti, L., Schaal, S.

In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pages: 309-315, IEEE, Osaka, Japan, November 2012 (inproceedings)

Abstract
Movement primitives as basis of movement planning and control have become a popular topic in recent years. The key idea of movement primitives is that a rather small set of stereotypical movements should suffice to create a large set of complex manipulation skills. An interesting side effect of stereotypical movement is that it also creates stereotypical sensory events, e.g., in terms of kinesthetic variables, haptic variables, or, if processed appropriately, visual variables. Thus, a movement primitive executed towards a particular object in the environment will associate a large number of sensory variables that are typical for this manipulation skill. These association can be used to increase robustness towards perturbations, and they also allow failure detection and switching towards other behaviors. We call such movement primitives augmented with sensory associations Associative Skill Memories (ASM). This paper addresses how ASMs can be acquired by imitation learning and how they can create robust manipulation skill by determining subsequent ASMs online to achieve a particular manipulation goal. Evaluation for grasping and manipulation with a Barrett WAM/Hand illustrate our approach.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Template-based learning of grasp selection

Herzog, A., Pastor, P., Kalakrishnan, M., Righetti, L., Asfour, T., Schaal, S.

In 2012 IEEE International Conference on Robotics and Automation, pages: 2379-2384, IEEE, Saint Paul, USA, 2012 (inproceedings)

Abstract
The ability to grasp unknown objects is an important skill for personal robots, which has been addressed by many present and past research projects, but still remains an open problem. A crucial aspect of grasping is choosing an appropriate grasp configuration, i.e. the 6d pose of the hand relative to the object and its finger configuration. Finding feasible grasp configurations for novel objects, however, is challenging because of the huge variety in shape and size of these objects. Moreover, possible configurations also depend on the specific kinematics of the robotic arm and hand in use. In this paper, we introduce a new grasp selection algorithm able to find object grasp poses based on previously demonstrated grasps. Assuming that objects with similar shapes can be grasped in a similar way, we associate to each demonstrated grasp a grasp template. The template is a local shape descriptor for a possible grasp pose and is constructed using 3d information from depth sensors. For each new object to grasp, the algorithm then finds the best grasp candidate in the library of templates. The grasp selection is also able to improve over time using the information of previous grasp attempts to adapt the ranking of the templates. We tested the algorithm on two different platforms, the Willow Garage PR2 and the Barrett WAM arm which have very different hands. Our results show that the algorithm is able to find good grasp configurations for a large set of objects from a relatively small set of demonstrations, and does indeed improve its performance over time.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Impact and Surface Tension in Water: a Study of Landing Bodies

Shih, B., Laham, L., Lee, K. J., Krasnoff, N., Diller, E., Sitti, M.

Bio-inspired Robotics Final Project, Carnegie Mellon University, 2012 (article)

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[BibTex]

[BibTex]


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Design and rolling locomotion of a magnetically actuated soft capsule endoscope

Yim, S., Sitti, M.

IEEE Transactions on Robotics, 28(1):183-194, IEEE, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Design and manufacturing of a controllable miniature flapping wing robotic platform

Arabagi, V., Hines, L., Sitti, M.

The International Journal of Robotics Research, 31(6):785-800, SAGE Publications Sage UK: London, England, 2012 (article)

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[BibTex]

[BibTex]


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Chemotactic steering of bacteria propelled microbeads

Kim, D., Liu, A., Diller, E., Sitti, M.

Biomedical microdevices, 14(6):1009-1017, Springer US, 2012 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Hydrogel microrobots actuated by optically generated vapour bubbles

Hu, W., Ishii, K. S., Fan, Q., Ohta, A. T.

Lab on a Chip, 12(19):3821-3826, Royal Society of Chemistry, 2012 (article)

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[BibTex]

[BibTex]


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A tunable low-pass filter using a liquid-metal reconfigurable periodic defected ground structure

Guo, S., Lei, B. J., Hu, W., Shiroma, W. A., Ohta, A. T.

In Microwave Symposium Digest (MTT), 2012 IEEE MTT-S International, pages: 1-3, 2012 (inproceedings)

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[BibTex]

[BibTex]


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A liquid-metal tunable electromagnetic-bandgap microstrip filter

Ohta, A. T., Guo, S., Lei, B. J., Hu, W., Shiroma, W. A.

In Wireless Information Technology and Systems (ICWITS), 2012 IEEE International Conference on, pages: 1-4, 2012 (inproceedings)

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[BibTex]

[BibTex]