Past Projects
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Tactile Sensing
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![tactile display](./TELETACTION/wax6.jpg)
![Tactile sensor](./TELETACTION/TSLAP3crop.jpg)
Tele-Taction and
Tactile Sensing (1982-2002)
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![tactile cylinder](./PastProjects/edsfinger2mod.jpg)
Tactile sensing of cylinder contact
E. Nicolson PhD (1994)
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tactile sensing movie (1987)
construction of capacitive tactile sensor (1993)
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Manipulation and Soft Fingers
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![Stanford/JPL Hand](Movies/twirl-bar.jpeg)
Dexterous Manipulation, etc. from '80s and
movie e.g.
ICRA 1986
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Part rolling (1984)
movie e.g.
IEEE JRA 1986 and ACC 1984.
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Part rolling (1984)
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![nut on bolt](./PastProjects/nut-on-bolt.jpg)
Manipulation with soft fingers
(1991)
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![soft finger](./PastProjects/MBCsoftFing91.png)
Soft finger design by Michael
Cohn (1991). movie
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![orthotweezers](DESKTOP/ortho2.jpg)
Desktop
rapid prototyping millirobots (2000-2008)
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![stacked microparts](MICROBOT/EIJI/research/index_files/image055.jpg)
Dextrous manipulation and microassembly movie
mpg
Eiji Shimada's microassembly page
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![porbe pushing
micropart](../%7Eronf/zesch/images/mmsdvw1.jpg)
Manipulation of microparts using force controlled pushing (1998)
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![polysilicon
folded gripper](./PastProjects/gripperx4.jpg)
Folded polysilicon microgripper
(1991)
movie |
![nut on
bolt](./Movies/nut-on-bolt.jpg)
Dynamic modelling of threaded insertion (1991)
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Millirobotics for Minimally-Invasive surgery (1994-2004)
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Mobile Robots
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![MFI](./MFI/FIGURES/mfi+dime.jpg)
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)
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![prototype kits](./DESKTOP/prototyping/images/crawler02.jpg)
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. |
![race cars](./Teach/ee192sp96-race.jpg)
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.
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![Micro-glider](MicroGlider/Figures/v10.jpg)
MicroGlider Project (2004-2005)
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![air hockey robot](./Movies/airhockey1992.jpg)
Credit card robot: squeeze film levitated,
magnetically driven.(1992) |
![credit card robot](./MICROBOT/milli-sys-photo1.jpg)
Credit card
robot (1995)
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![maze for paramecia](./Movies/ucyborg1990-maze.jpg)
Maze solving by paramecia (1990)
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![Control of paramecia](UCYBORG/ucyborg1.jpg)
Paramecia Control (1991)
movie |
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![acrobot](./PastProjects/hopframes.png)
Acrobot hopping (1992)
simulation .mp4
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![acrobot](./PastProjects/acrobot2.jpg)
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
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![acrobot](./PastProjects/acrobot-airtable-scan.png)
Acrobot model on air table (circa 1993)
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