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2009


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Magnetic mobile micro-robots

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

7eme Journees Nationales de la Recherche en Robotique, 2009 (article)

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2009


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Gecko-Inspired Directional and Controllable Adhesion

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

Small, 5(2):170-175, WILEY-VCH Verlag, 2009 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Multiple magnetic microrobot control using electrostatic anchoring

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

Applied Physics Letters, 94(16):164108, AIP, 2009 (article)

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[BibTex]

[BibTex]


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Characterization of bacterial actuation of micro-objects

Behkam, B., Sitti, M.

In Robotics and Automation, 2009. ICRA’09. IEEE International Conference on, pages: 1022-1027, 2009 (inproceedings)

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[BibTex]

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Wet self-cleaning of biologically inspired elastomer mushroom shaped microfibrillar adhesives

Kim, S., Cheung, E., Sitti, M.

Langmuir, 25(13):7196-7199, ACS Publications, 2009 (article)

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Compliant footpad design analysis for a bio-inspired quadruped amphibious robot

Park, H. S., Sitti, M.

In Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, pages: 645-651, 2009 (inproceedings)

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Modelling the interplay of central pattern generation and sensory feedback in the neuromuscular control of running

Daley, M., Righetti, L., Ijspeert, A.

In Comparative Biochemistry and Physiology - Part A: Molecular & Integrative Physiology. Annual Main Meeting for the Society for Experimental Biology, 153, Glasgow, Scotland, 2009 (inproceedings)

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link (url) DOI [BibTex]


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A novel artificial hair receptor based on aligned PVDF micro/nano fibers

Weiting, Liu, Bilsay, Sumer, Cesare, Stefanini, Arianna, Menciassi, Fei, Li, Dajing, Chen, Paolo, Dario, Metin, Sitti, Xin, Fu

In Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on, pages: 49-54, 2009 (inproceedings)

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Robot ceiling climbers harness new tricks

Marks, Paul

New Scientist, 202(2705):18-19, Reed Business Information, 2009 (article)

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Waalbot: Agile climbing with synthetic fibrillar dry adhesives

Murphy, M. P., Sitti, M.

In Robotics and Automation, 2009. ICRA’09. IEEE International Conference on, pages: 1599-1600, 2009 (inproceedings)

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[BibTex]

[BibTex]


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Biologically-Inspired Patterned and Coated Adhesives for Medical Devices

Glass, P, Chung, H, Lee, C, Tworkoski, E, Washburn, NR, Sitti, M

Journal of Medical Devices, 3(2):027537, American Society of Mechanical Engineers, 2009 (article)

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Modeling and experimental characterization of an untethered magnetic micro-robot

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

The International Journal of Robotics Research, 28(8):1077-1094, Sage Publications, 2009 (article)

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[BibTex]

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Towards automated nanoassembly with the atomic force microscope: A versatile drift compensation procedure

Krohs, F., Onal, C., Sitti, M., Fatikow, S.

Journal of Dynamic Systems, Measurement, and Control, 131(6):061106, American Society of Mechanical Engineers, 2009 (article)

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Adaptive Frequency Oscillators and Applications

Righetti, L., Buchli, J., Ijspeert, A.

The Open Cybernetics \& Systemics Journal, 3, pages: 64-69, 2009 (article)

Abstract
In this contribution we present a generic mechanism to transform an oscillator into an adaptive frequency oscillator, which can then dynamically adapt its parameters to learn the frequency of any periodic driving signal. Adaptation is done in a dynamic way: it is part of the dynamical system and not an offline process. This mechanism goes beyond entrainment since it works for any initial frequencies and the learned frequency stays encoded in the system even if the driving signal disappears. Interestingly, this mechanism can easily be applied to a large class of oscillators from harmonic oscillators to relaxation types and strange attractors. Several practical applications of this mechanism are then presented, ranging from adaptive control of compliant robots to frequency analysis of signals and construction of limit cycles of arbitrary shape.

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link (url) [BibTex]


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Enhanced adhesion by gecko-inspired hierarchical fibrillar adhesives

Murphy, M. P., Kim, S., Sitti, M.

ACS applied materials \& interfaces, 1(4):849-855, American Chemical Society, 2009 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Miniature devices: Voyage of the microrobots

Sitti, M.

Nature, 458(7242):1121-1122, Nature Publishing Group, 2009 (article)

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Piezoelectric ultrasonic resonant micromotor with a volume of less than 1 mm 3 for use in medical microbots

Watson, B., Friend, J., Yeo, L., Sitti, M.

In Robotics and Automation, 2009. ICRA’09. IEEE International Conference on, pages: 2225-2230, 2009 (inproceedings)

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[BibTex]

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Dynamic modeling and analysis of pitch motion of a basilisk lizard inspired quadruped robot running on water

Park, H. S., Floyd, S., Sitti, M.

In Robotics and Automation, 2009. ICRA’09. IEEE International Conference on, pages: 2655-2660, 2009 (inproceedings)

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Dry spinning based spinneret based tunable engineered parameters (STEP) technique for controlled and aligned deposition of polymeric nanofibers

Nain, A. S., Sitti, M., Jacobson, A., Kowalewski, T., Amon, C.

Macromolecular rapid communications, 30(16):1406-1412, WILEY-VCH Verlag, 2009 (article)

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Two-dimensional contact and noncontact micromanipulation in liquid using an untethered mobile magnetic microrobot

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

IEEE Transactions on Robotics, 25(6):1332-1342, IEEE, 2009 (article)

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[BibTex]

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A scaled bilateral control system for experimental one-dimensional teleoperated nanomanipulation

Onal, C. D., Sitti, M.

The International Journal of Robotics Research, 28(4):484-497, Sage Publications, 2009 (article)

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[BibTex]

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A Swallowable Tethered Capsule Endoscope for Diagnosing Barrett’s Esophagus

Glass, P., Sitti, M., Pennathur, A., Appasamy, R.

Gastrointestinal Endoscopy, 69(5):AB106, Mosby, 2009 (article)

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Project Page [BibTex]

Project Page [BibTex]


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A miniature ceiling walking robot with flat tacky elastomeric footpads

Unver, O., Sitti, M.

In Robotics and Automation, 2009. ICRA’09. IEEE International Conference on, pages: 2276-2281, 2009 (inproceedings)

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Adhesion of biologically inspired polymer microfibers on soft surfaces

Cheung, E., Sitti, M.

Langmuir, 25(12):6613-6616, ACS Publications, 2009 (article)

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Dangling chain elastomers as repeatable fibrillar adhesives

Sitti, M., Cusick, B., Aksak, B., Nese, A., Lee, H., Dong, H., Kowalewski, T., Matyjaszewski, K.

ACS applied materials \& interfaces, 1(10):2277-2287, American Chemical Society, 2009 (article)

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[BibTex]


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Reversible dry micro-fibrillar adhesives with thermally controllable adhesion

Kim, S., Sitti, M., Xie, T., Xiao, X.

Soft Matter, 5(19):3689-3693, Royal Society of Chemistry, 2009 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Biologically Inspired Polymer Microfibrillar Arrays for Mask Sealing

Cheung, E., Aksak, B., Sitti, M.

CARNEGIE-MELLON UNIV PITTSBURGH PA, 2009 (techreport)

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Tankbot: A miniature, peeling based climber on rough and smooth surfaces

Unver, O., Sitti, M.

In Robotics and Automation, 2009. ICRA’09. IEEE International Conference on, pages: 2282-2287, 2009 (inproceedings)

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Automated 2-D nanoparticle manipulation with an atomic force microscope

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

In Robotics and Automation, 2009. ICRA’09. IEEE International Conference on, pages: 1814-1819, 2009 (inproceedings)

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Enhanced reversible adhesion of dopamine methacrylamide-coated elastomer microfibrillar structures under wet conditions

Glass, P., Chung, H., Washburn, N. R., Sitti, M.

Langmuir, 25(12):6607-6612, ACS Publications, 2009 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Microparticle manipulation using multiple untethered magnetic micro-robots on an electrostatic surface

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

In Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, pages: 528-533, 2009 (inproceedings)

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[BibTex]

2005


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Adhesive microstructure and method of forming same

Fearing, R. S., Sitti, M.

March 2005, US Patent 6,872,439 (misc)

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2005


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Modeling and testing of a biomimetic flagellar propulsion method for microscale biomedical swimming robots

Behkam, B., Sitti, M.

In Proceedings of Advanced Intelligent Mechatronics Conference, pages: 37-42, 2005 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Biologically inspired adhesion based surface climbing robots

Menon, C., Sitti, M.

In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, pages: 2715-2720, 2005 (inproceedings)

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Claytronics: highly scalable communications, sensing, and actuation networks

Aksak, Burak, Bhat, Preethi Srinivas, Campbell, Jason, DeRosa, Michael, Funiak, Stanislav, Gibbons, Phillip B, Goldstein, Seth Copen, Guestrin, Carlos, Gupta, Ashish, Helfrich, Casey, others

In Proceedings of the 3rd international conference on Embedded networked sensor systems, pages: 299-299, 2005 (inproceedings)

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Biologically Inspired Miniature Water Strider Robot.

Suhr, S. H., Song, Y. S., Lee, S. J., Sitti, M.

In Robotics: Science and Systems, pages: 319-326, 2005 (inproceedings)

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Polymer micro/nanofiber fabrication using micro/nanopipettes

Nain, A. S., Amon, C., Sitti, M.

In Nanotechnology, 2005. 5th IEEE Conference on, pages: 366-369, 2005 (inproceedings)

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A dynamical systems approach to learning: a frequency-adaptive hopper robot

Buchli, J., Righetti, L., Ijspeert, A.

In Proceedings of the VIIIth European Conference on Artificial Life ECAL 2005, pages: 210-220, Springer Verlag, 2005 (inproceedings)

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[BibTex]

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From Dynamic Hebbian Learning for Oscillators to Adaptive Central Pattern Generators

Righetti, L., Buchli, J., Ijspeert, A.

In Proceedings of 3rd International Symposium on Adaptive Motion in Animals and Machines – AMAM 2005, Verlag ISLE, Ilmenau, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Geckobot and waalbot: Small-scale wall climbing robots

Unver, O., Murphy, M., Sitti, M.

In Infotech@ Aerospace, pages: 6940, 2005 (incollection)

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Fusion of biomedical microcapsule endoscope and microsystem technology

Kim, Tae Song, Kim, Byungkyu, Cho, Dongil Dan, Song, Si Young, Dario, P, Sitti, M

In Solid-State Sensors, Actuators and Microsystems, 2005. Digest of Technical Papers. TRANSDUCERS’05. The 13th International Conference on, 1, pages: 9-14, 2005 (inproceedings)

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[BibTex]


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Atomic force microscope based two-dimensional assembly of micro/nanoparticles

Tafazzoli, A., Pawashe, C., Sitti, M.

In Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005.(ISATP 2005). The 6th IEEE International Symposium on, pages: 230-235, 2005 (inproceedings)

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A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

Cheung, E., Karagozler, M. E., Park, S., Kim, B., Sitti, M.

In Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on, pages: 551-557, 2005 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]

2002


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A micromechanical flying insect thorax

Fearing, R., Avadhanula, S., Campolo, D., Sitti, M., Yan, J., Wood, R.

Neurotechnology for Biomimetic Robots, pages: 469-480, The MIT Press Cambridge, MA, 2002 (article)

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2002


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Nanomolding based fabrication of synthetic gecko foot-hairs

Sitti, M., Fearing, R. S.

In Nanotechnology, 2002. IEEE-NANO 2002. Proceedings of the 2002 2nd IEEE Conference on, pages: 137-140, 2002 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Evidence for van der Waals adhesion in gecko setae

Autumn, K., Sitti, M., Liang, Y. A., Peattie, A. M., Hansen, W. R., Sponberg, S., Kenny, T. W., Fearing, R., Israelachvili, J. N., Full, R. J.

Proceedings of the National Academy of Sciences, 99(19):12252-12256, National Acad Sciences, 2002 (article)

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Project Page [BibTex]

Project Page [BibTex]

1998


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Tele-nanorobotics using an atomic force microscope as a nanorobot and sensor

Sitti, M., Hashimoto, H.

Advanced Robotics, 13(4):417-436, Taylor & Francis, 1998 (article)

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1998


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Nano tele-manipulation using virtual reality interface

Sitti, M., Horiguchi, S., Hashimoto, H.

In Industrial Electronics, 1998. Proceedings. ISIE’98. IEEE International Symposium on, 1, pages: 171-176, 1998 (inproceedings)

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[BibTex]


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Tele-nanorobotics using atomic force microscope

Sitti, M., Hashimoto, H.

In Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on, 3, pages: 1739-1746, 1998 (inproceedings)

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[BibTex]