Past Projects
Tactile Sensing
Tele-Taction and Tactile Sensing (1982-2002)	Tactile sensing of cylinder contact E. Nicolson PhD (1994)	tactile sensing movie (1987) construction of capacitive tactile sensor (1993)
Manipulation and Soft Fingers
Dexterous Manipulation, etc. from '80s and movie e.g. ICRA 1986	Part rolling (1984) movie e.g. IEEE JRA 1986 and ACC 1984.	Part rolling (1984)
	Manipulation with soft fingers (1991)	Soft finger design by Michael Cohn (1991). movie
Desktop rapid prototyping millirobots (2000-2008)	Dextrous manipulation and microassembly movie mpg Eiji Shimada's microassembly page	Manipulation of microparts using force controlled pushing (1998)
Folded polysilicon microgripper (1991) movie	Dynamic modelling of threaded insertion (1991)	Millirobotics for Minimally-Invasive surgery (1994-2004)
Mobile Robots
Micromechanical Flying Insect (1998-2008) The goal of this project is to develop an autonomous 0.1 gram flying robot using insect-inspired wing kinematics. Flight mill lift movie (2002) MFI suspended on wire movie (2003)	MilliRobot Prototyping using Composite Fiber Toolkits (2000-2007) We developed a low cost (<$1000)) desktop factory which will allow users to build millirobots from a kit of components.	UCB EECS 192 Mechatronics Design Lab (1996) Completely autonomous race cars, using IR beacons for tracking other cars, and optical track following. On-board computation is 8 bit processor (6811). Start signal is given by camera flash. Car with most laps in 2 minutes is the winner.
MicroGlider Project (2004-2005)	Credit card robot: squeeze film levitated, magnetically driven.(1992)	Credit card robot (1995)
Maze solving by paramecia (1990)	Paramecia Control (1991) movie
Acrobot hopping (1992) simulation .mp4	Acrobot project 1988-1993. See e.g.  ``Control of a Two-Link Robot to Achieve Sliding and Hopping Gaits'', IEEE ICRA 1992. open loop .wmv and sim .wmv	Acrobot model on air table (circa 1993)

Affiliations