Biomimetics Millisystem Lab


Lab Facilities
lab view
Prototype processing area
Laser micromachining system
wind tunnel
Arena for ambulation testing
force testing system
Precision force/displacement testing station

Research Tools
  Prototyping Folded Robots
  Microlaze and Thermojet
  Tactile Sensor Construction
  Pneumatic Tactile Display Fabrication
  Laser Micromachining
  Synthetic Gecko Adhesion Bibliography
  Do-it-yourself gecko tape (ages 13 and up)
  ImageProc dsPIC33F CPU board for robot control
  OpenRoACH 15 cm cardboard robot (on GitHub)
  OpenRoACH 1.1 with electronics, code, BoM
  open source tracked robot with Linux/ROS.
  miniature BLDC motor driver board and code

ICRA 2006 Plenary ``Challenges for Effective MilliRobots'' Movies and References
EECS PhD Theses (list) EECS MS Reports (list)

Tiffany Cappellari, ``Manipulation of Objects with Tethers and Millirobots'' MS EECS May 2021. pdf

E.J. Nicolson, ``Tactile Sensing and Control of a Planar Manipulator'' PhD EECS 1994, pdf
K.H. Chiang, ``Limits on Microvalve Design'' PhD EECS 2000, pdf
G. Moy, ``Bidigital Teletaction System Design and Performance'' PhD EECS 2002, pdf
Robert J. Wood, ``Composite Microstructures, Microactuators and Sensors for Biologically Inspired Micro Air Vehicles,'' PhD EECS 2004, pdf
Srinath Avadhanula, ``Design, Fabrication and Control of the Micromechanical Flying Insect,'' PhD ME 2006. pdf
Ranjana Sahai, ``Rapid prototyping of Robotic Structures on a Centimeter Scale,'' PhD ME 2006.
Jongho Lee, ``Biologically Inspired Synthetic Gecko Adhesive from Hard Polymer Microfiber Arrays,'' PhD ME 2008. pdf
Aaron Hoover, ``Design of Minimally Actuated Legged Milli-Robots Using Compliant Mechanisms and Folding,'' PhD ME 2010. pdf
Nicholas J. Kohut, ``Inertial and Aerodynamic Tail Steering of a Meso-scale Legged Robot,'' PhD ME May 2013, pdf
Andrew G. Gillies, ``Challenges for Synthetic Gecko Adhesives: Roughness, Fouling, and Wear,'' PhD Thesis (ME) Dec. 2013. pdf
Duncane W. Haldane, ``Rapid and Agile Locomotion with Power-dense Millirobots,'' PhD Thesis (ME) May 2017. pdf
Jessica S. Lee, ``Increased Millirobot Traction in Running and Jumping through Leg Spines'' PhD Thesis (ME) May 2018. pdf
Carlos S. Casarez, ``Tail-Augmented Self-Righting and Turning of a Dynamic Legged Millirobot,'' PhD Thesis (ME) August 2018. pdf