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The
goal of the Biomimetic Millisystems Lab is to harness features
of animal manipulation, locomotion, sensing, actuation, mechanics,
dynamics,
and control strategies to radically improve millirobot capabilities.
Research in the lab ranges from fundamental understanding of mechanical
principles to novel fabrication techniques to system integration of
autonomous
millirobots. The lab works closely with biologists to develop models
of function which can be tested on engineered and natural systems.
The lab's current research is centered on fly-size flapping flight, and
all-terrain crawling using nanostructured adhesives.
Recent Results
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Directional
Gecko Adhesive (Jan. 2008)
First easy attach, easy release, and directional synthetic
gecko adhesive using hard polymer microfibers. Microfiber array using
42 million polypropylene microfibers per square centimeter. Patches
can support 9 N/sq.cm. in estimated contact region with preload of just
0.1N/sq.cm.
Sliding-induced
adhesion
of stiff polymer, Interface 2008 |
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High Lift with 270 Hz Wing Beat (Oct.
2007)
By increasing wing
beat
frequency from 170 Hz to 270 Hz, the lift force generated by
a single wing increased from 500 uN to 1400 uN, more than 2X the lift
required for the final 100 mg MFI to hover.
Steltz
et al IROS
2007 |
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High Power Density Bimorph Actuator (Oct.
2007)
Dynamometer
testing
shows energy delivery of 19 uJ per cycle from a 10
mg PZT bimorph actuator, with power delivery of > 450 W/kg at 270
Hz. (By comparison, the smallest motor available at 70 mg has power
density < 100 W/kg).
Steltz&Fearing,
IROS 2007 |
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Current Research
Projects (Jan.
2008)
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Micromechanical
Flying Insect
The goal of this project is to develop an autonomous 0.1 gram flying
robot using insect-inspired wing kinematics. Research issues range from
actuator mechanics to flight control with biomimetic sensors. |
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Biologically
Inspired Synthetic Gecko Adhesives
Micro and nanofiber structures are designed to provide high friction
and adhesive forces through mechanical control of surface interactions. |
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Millirobot
Rapid Prototyping
We are developing a low cost (<$1000)) desktop factory which will
allow users to build millirobots from a kit of components. |
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Micro-Robots
and Microassembly
Manipulation of 200 micron and smaller components using the
OrthoTweezers manipulator is the key for automated millirobot assembly. |
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Affiliations
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