Biomimetic Millisystems Lab – Papers

Design and Control of a Compact Series Elastic Actuator Module for Robots in MRI Scanners. He, B., Zhao, N., Guo, D.Y., Paxson, C.H., De Goyeneche, A., Lustig, M., Liu, C. and Fearing, R.S arXiv preprint arXiv:2406.07670.

Design and Control of a Compact Series Elastic Actuator Module for Robots in MRI Scanners. He, B., Zhao, N., Guo, D.Y., Paxson, C.H., De Goyeneche, A., Lustig, M., Liu, C. and Fearing, R.S IEEE/ASME Transactions on Mechatronics, doi: 10.1109/TMECH.2026.3658501

Monopedal robot branch-to-branch leaping and landing inspired by squirrel balance control JK Yim, EK Wang, SD Lee, NH Hunt, RJ Full, and RS Fearing, Science Robotics, 19 Mar 2025. DOI: 10.1126/scirobotics.adq1949 accepted version (.pdf)

Stabilization of above-branch landing by free-ranging squirrels using nonprehensile, palmar foot grasps S.D. Lee, S. Wang, D. Kuang, E.K. Wang, J.K. Yim, N.H. Hunt, R.S. Fearing, H.S. Stuart, and R.J. Full. Journal Experimental Biology, 27 February 2025. DOI: 10.1242/jeb.249934

Design, fabrication, and testing of a new soft-pouch robot with 6 degrees of freedom to expand the reach of open and endonasal skull base approaches, Yifan You, Chen Dai, Shunheng Xin, Daniel Quintana, Wesley Shoap, Ronald S. Fearing, and Ezequiel Goldschmidt, Neurosurgical Focus, DOI: doi.org/10.3171/2024.9.FOCUS24540

Multi-Layer LDPE Pouch Robots Enabled by Inkjet-Printed Masking Layers Yifan You, Chen Dai, Ezequiel Goldschmidt, and Ronald S. Fearing, Advanced Materials Technologies, 2024, 2401052. DOI: doi.org/10.1002/admt.202401052

The Robustness of Tether Friction in Non-idealized Terrains. Justin J. Page; Laura K. Treers; S.J. Jorgensen; R.S. Fearing; Hannah S. Stuart IEEE Robotics and Automation Letters, pp. 424, vol. 8 no. 1, Jan. 2023. DOI: doi.org/10.1109/LRA.2022.3227868

Automatic modeling and fault diagnosis of car production lines based on first-principle qualitative mechanics and semantic web technology Liyu Wang, Jack Hodges, DanYu, Ronald S.Fearing, Advanced Engineering Informatics Volume 49, August 2021, 101248 DOI: doi.org/10.1016/j.aei.2021.101248

Designing Dynamic Machines With Large-Scale Root Finding, M.M. Plecnik and R. S. Fearing, IEEE Transactions on Robotics, Mar. 2020. DOI: 10.1109/TRO.2020.2975425.

Precision Robotic Leaping and Landing Using Stance-phase Balance J.K. Yim, B. R. P. Singh, E.K. Wang, R. Featherstone, and R.S. Fearing, IEEE Robotics and Automation Letters, 27 Feb. 2020. DOI: 10.1109/LRA.2020.2976597

Insect-scale fast moving and ultrarobust soft robot Y. Wu, J.K. Yim, J. Liang, Z. Shao, M. Qi, J. Zhong, Z. Luo, X. Yan, M. Zhang, X. Wang, R.S. Fearing, R.J. Full and Liwei Lin, Science Robotics 31 Jul 2019 DOI: 10.1126/scirobotics.aax1594

Cockroach Milli-Robot With Improved Load Capacity Dongwon Yun, and R.S. Fearing, ASME. J. Mechanisms Robotics, 2019. DOI:10.1115/1.4042626.

JumpRoACH: A Trajectory-Adjustable Integrated Jumping-Crawling Robot G-P. Jung, C.S. Casarez, J. Lee, S-M. Baek, S-J. Yim, S-H. Chae, R.S. Fearing, and K-J. Cho, IEEE/ASME Mechatronics, vol. 24, no. 3, June 2019.

Drift-Free Roll and Pitch Estimation for High-Acceleration Hopping J.K.Yim, E.K. Wang, and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Montreal, May 20-24, 2019. IEEE ICRA 2019 Best Student Paper

OpenRoACH: A Durable Open-Source Hexapedal Platform with Onboard Robot Operating System (ROS) Liyu Wang, Yuxiang Yang, Gustavo Correa, K. Karydis, R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Montreal, May 20-24, 2019. arXiv

Automatic Leg Regeneration for Robot Mobility Recovery Liyu Wang and Ronald S. Fearing, IEEE Int. Conf. on Robotics and Automation, Montreal, May 20-24, 2019.

Adjustable Power Modulation for a Leg Mechanism Suitable for Running M. Plecnik, K.M. Fearing, R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Montreal, May 20-24, 2019. finalist for Best Mechanisms and Design Paper

Body Lift and Drag for a Legged Millirobot in Compliant Beam Environment Can Koc, Cem Koc, Brian Su, C. S. Casarez and R. S. Fearing, IEEE Int. Conf. on Robotics and Automation, Montreal, May 20-24, 2019.

Team-based Robot Righting via Pushing and Shell Design D.L. McPherson and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Montreal, May 20-24, 2019.

Learning to Adapt in Dynamic, Real-World Environments through Meta-Reinforcement Learning Anusha Nagabandi*, Ignasi Clavera*, Simin Liu, Ronald Fearing, Pieter Abbeel, Sergey Levine, and Chelsea Finn, 7th Int. Conf. on Learning Representations, New Orleans, May 6-9, 2019. blog post

Steering of an Underactuated Legged Robot through Terrain Contact with an Active Tail Carlos Casarez and R.S. Fearing, IEEE/RSJ Int. Conf. on Int. Robots and Systems, Madrid, Oct. 1-5, 2018.

Learning Image-Conditioned Dynamics Models for Control of Under-actuated Legged Millirobots A. Nagabandi, G. Yang, T.H. Asmar, R. Pandya, G. Kahn, S. Levine, and R.S. Fearing, IEEE/RSJ Int. Conf. on Int. Robots and Systems, Madrid, Oct. 1-5, 2018. Best Paper Finalist (earlier arXiv version)

Towards a Soft Fingertip with Integrated Sensing and Actuation Benjamin McInroe, Carolyn Chen, Ken Goldberg, Ruzena Bajcsy, and R.S. Fearing, IEEE/RSJ Int. Conf. on Int. Robots and Systems, Madrid, Oct. 1-5, 2018.

Precision Jumping Limits in Salto-1P from Flight-phase Control Justin K. Yim and R.S. Fearing, IEEE/RSJ Int. Conf. on Int. Robots and Systems, Madrid, Oct. 1-5, 2018. DOI: 10.1109/IROS.2018.8594154

Bidirectional, thin-film repulsive-/attractive-force electrostatic actuators for a crawling milli-robot E.W. Schaler, L. Jiang, C.Lee, and R.S.Fearing, MARSS 2018: Int. Conf. on Manipulation, Automation, and Robotics at Small Scales, Nagoya July 4-8, 2018. Best Student Paper Award

Multi-Layer, Thin-Film Repulsive-Force Electrostatic Actuators for a 2-DoF Micro-Mirror E.W. Schaler, L. Jiang, and R.S. Fearing, Actuator 2018: Int. Conf. and Exhibition on New Actuators and Drive Systems, Bremen, June 25-27, 2018.

Transition by head-on collision: Mechanically mediated maneuvers in cockroaches and small robots Kaushik Jayaram, Jean-Michel Mongeau, Anand Mohapatra, Paul Birkmeyer, Ronald S. Fearing and Robert J. Full, Journal of the Royal Society Interface, 14 February 2018. DOI: 10.1098/rsif.2017.0664 2018.

Self-Engaging Spined Gripper with Dynamic Penetration and Release for Steep Jumps Jessica S. Lee, Mark Plecnik, Je-han Yang, and Ronald S. Fearing, IEEE ICRA Brisbane, May 2018.

Neural Network Dynamics for Model-Based Deep Reinforcement Learning with Model-Free Fine-Tuning Anusha Nagabandi, Gregory Kahn, Ronald S. Fearing, Sergey Levine, IEEE ICRA Brisbane, May 2018.

Thin-film repulsive-force electrostatic actuators E.Schaler, T. Zohdi, R.S. Fearing, Sensors and Actuators, 29 Dec. 2017. DOI: 10.1016/j.sna.2017.12.054

Mechanical principles of dynamic terrestrial self-righting using wings, Chen Li, Chad C. Kessens, Ronald S. Fearing & Robert J. Full, Advanced Robotics, Sept. 2017. Advanced Robotics Best Paper Award

Repetitive extreme-acceleration (14-g) spatial jumping with Salto-1P, D.W. Haldane, J.K. Yim, R.S. Fearing, IEEE/RSJ Int. Conf. on Int. Robots and Systems, Vancouver, Sept. 2017. Best Conference Paper Award

Dynamic Terrestrial Self-Righting with a Minimal Tail, C.S. Casarez and R.S. Fearing, IEEE/RSJ Int. Conf. on Int. Robots and Systems, Vancouver, Sept. 2017.

Wearable Microfluidic Diaphragm Pressure Sensor for Health and Tactile Touch Monitoring Y. Gao, H. Ota, E. W. Schaler, K. Chen, A. Zhao, W. Gao, H. M. Fahad, Y. Leng, A. Zheng, F. Xiong, C. Zhang, L.-C. Tai, P. Zhao, R. S. Fearing, A. Javey, Adv. Mater. 2017, 1701985.

Finding Only Finite Roots to Large Kinematic Synthesis Systems, M.M. Plecnik and R.S. Fearing, ASME J. Mechanisms Robotics. 2017;9(2):021005-021005-8. DOI: 10.1115/1.4035967

A study on finding finite roots for kinematic synthesis M.M. Plecnik and R.S. Fearing, ASME 2017 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC 2017 August 6-9, 2017, Cleveland, Ohio, USA

Cooperative Inchworm Localization with a Low Cost Team , Brian Nemsick, Austin D Buchan, Anusha Nagabandi, R.S. Fearing, Avideh Zakhor, IEEE Int. Conf. Robotics and Automation, Singapore, May 2017.

High-rate controlled turning with a pair of miniature legged robots, TaeWon Seo, Carlos Casarez, and R.S. Fearing, IEEE Int. Conf. Robotics and Automation, Singapore, May 2017.

Pop-up Mars Rover with Textile-Enhanced Rigid-Flex PCB Body, J.T. Karras, C.L. Fuller, K.C. Carpenter, A. Buscicchio, D. McKeeby, C.J. Norman, C.E. Parcheta, I. Davydychev, R.S. Fearing, IEEE Int. Conf. Robotics and Automation, Singapore, May 2017.

Neural Network Dynamics for Model-Based Deep Reinforcement Learning with Model-Free Fine-Tuning A Nagabandi, G Kahn, RS Fearing, S Levine, arXiv preprint arXiv:1708.02596 (2017).

Design Exploration and Kinematic Tuning of a Power Modulating Jumping Monopod M.M. Plecnik, D.W. Haldane, J.K. Yim and R.S. Fearing, J. Mechanisms Robotics 9(1), 011009 (Dec 07, 2016) doi: 10.1115/1.4035117

Robotic vertical jumping agility via series-elastic power modulation, D.W. Haldane, M.M. Plecnik, J.K. Yim, and R.S. Fearing, Science Robotics 6 Dec. 2016. doi: 10.1126/scirobotics.aag2048

Modeling and Control of an Ornithopter for Diving Cameron Rose, Parsa Mahmoudieh, R.S. Fearing IEEE/RSJ Int. conf on Intelligent Robotics and Systems, Daejon, Korea 2016.

A power modulating leg mechanism for monopedal hopping, Duncan Haldane, Mark Plecnik, Justin K. Yim, R.S. Fearing, IEEE/RSJ Int. conf on Intelligent Robotics and Systems, Daejon, Korea 2016.

Cockroach-inspired robot reveals principles of ground-based, dynamic self-righting, Chen Li, Chad C. Kessens, Austin Young, Ronald Fearing, Robert Full, IEEE/RSJ Int. conf on Intelligent Robotics and Systems, Daejon, Korea 2016.

A Path Planning Algorithm for Single-Ended Continuous Planar Robotic Ribbon Folding Anusha Nagabandi, Liyu Wang, Ronald Fearing, IEEE/RSJ Int. conf on Intelligent Robotics and Systems, Daejon, Korea 2016.

Compound Foot for Increased Millirobot Jumping Ability, J.S. Lee, R.S. Fearing, and K-J. Cho, 19th International Conference on Climbing and Walking Robots CLAWAR 2016, London, UK, 12-14 September 2016.

Finding only Finite Roots to Large Kinematic Synthesis Systems M. M. Plecnik and R.S. Fearing, ASME Int. Design Engineering Technical Conference, IDETC 2016, Charlotte, North Carolina, Aug. 2016.

Step Climbing Cooperation Primitives for Legged Robots with a Reversible Connection , Carlos Casarez and R.S. Fearing, IEEE Int. Conf. Robotics and Automation, Stockholm, May 2016.

An Integrated Jumping-Crawling Robot Using Height-Adjustable Jumping Module, Gwang-Pil Jung, Carlos Casarez, Sunpill Jung, Ronald Fearing, Kyu-Jin Cho, IEEE Int. Conf. Robotics and Automation, Stockholm, May 2016.

Robotic Folding of 2D and 3D Structures from a Ribbon, Liyu Wang, Mark Plecnik, Ronald Fearing IEEE Int. Conf. Robotics and Automation, Stockholm, May 2016.

Force Sensing Shell using Planar Sensor for a Miniature Legged Robot, J.D. Goldberg and R.S. Fearing, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg Germany, Sept. 28 - Oct. 2, 2015.

Terradynamically streamlined shapes in animals and robots enhance traversability through densely cluttered terrain C. Li, A.O. Pullin, D.W. Haldane, H.K. Lam, R.S. Fearing and R. J. Full, Bioinspiration and Biomimetics, vol. 10, no. 4, pp. 046003, 2015. DOI: 10.1088/1748-3190/10/4/046003

VLR : Cockroach Millirobot with Load Decoupling Structure Dongwon Yun and R.S. Fearing, IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, Busan Korea, July 7-11, 2015.

Anisotropic Collapsible Leg Spines for Increased Millirobot Traction Jessica S. Lee and Ronald S. Fearing, Int. Conf. on Robotics and Automation, Seattle, WA May 2015.

Running beyond the bio-inspired regime Duncan W. Haldane and Ronald S. Fearing, Int. Conf. on Robotics and Automation, Seattle, WA May 2015.

Coordinated Launching of an Ornithopter with a Hexapedal Robot Cameron J. Rose, Parsa Mahmoudieh, and Ronald S. Fearing, Int. Conf. on Robotics and Automation, Seattle, WA May 2015.

Dynamic Legged Locomotion for Palm-Size Robots D. Zarrouk, D. W. Haldane, and R.S. Fearing, SPIE DSS 2015, Conf. 9467, Baltimore MD, April 2015.

Integrated Manufacture of Exoskeletons and Sensing Structures for Folded Millirobots D.W. Haldane, C.S.Casarez, J.T. Karras, J. Lee, C. Li, A.O. Pullin, E.W. Schaler, D. Yun, H. Ota, A. Javey, and R.S. Fearing, J. Mechanisms Robotics 7(2), 021011 (2015). doi:10.1115/1.4029495

Controlled In-Plane Locomotion of a Hexapod Using a Single Actuator, D. Zarrouk and R.S. Fearing, IEEE Transactions on Robotics, vol. 31, no. 1, pp. 157, Feb. 2015.

Angled microfiber arrays as low-modulus, low Poisson's ratio compliant substrates, Bryan E. Schubert, Andrew G. Gillies, and Ronald S. Fearing, J. Micromech. Microeng. 24 065016, 2014.

Planning with the STAR(s) Konstantinos Karydis, David Zarrouk, Ioannis Poulakakis, Ronald Fearing, Herbert G. Tanner, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Chicago, IL Sept. 2014.

Locomotion of in-plane robot with continuously sliding feet, D. Zarrouk, A. Pullin, and R.S. Fearing, CLAWAR 2014, Poznan, Poland, 21-23 July 2014.

Detection of Slippery Terrain with a Heterogeneous Team of Legged Robots, Duncan Haldane, Peter Fankhauser, Roland Siegwart, Ronald Fearing, IEEE Int. Conf. Robotics and Automation, Hong Kong June 2014.

Comparison of Ornithopter Wind Tunnel Force Measurements with Free Flight, Cameron Rose, Ronald Fearing, IEEE Int. Conf. Robotics and Automation, Hong Kong June 2014.

A One Actuator Steerable Autonomous Robot (1STAR), David Zarrouk, Ronald Fearing, video submission to IEEE Int. Conf. Robotics and Automation, Hong Kong, 2014. Best conference video finalist

Roll oscillation modulated turning in dynamic millirobots, Duncan Haldane, Ronald Fearing, IEEE Int. Conf. Robotics and Automation, Hong Kong June 2014.

Simulation of synthetic gecko arrays shearing on rough surfaces, Andrew G. Gillies and Ronald S. Fearing, J. R. Soc. Interface, published 2 April 2014.

Photo-actuators and motors based on carbon nanotubes with selective chirality distributions, X. Zhang, Z. Yu, C. Wang, D. Zarrouk, J.W. Seo, J. Cheng, A. Buchan, K. Takei, Y. Zhao, J. Ager, J.Zhang, M. Hettick, M. Hersam, A.P. Pisano, R. Fearing, and A. Javey, Nature Communications, vol. 5, no. 2983, 2014.

Gecko toe and lamellar shear adhesion on macroscopic, engineered rough surfaces, A. G. Gillies, H. Lin, A. Henry, A. Ren, K. Shiuan, R. S. Fearing and Robert J. Full, J Exp Biol, online October 10, 2013.

Aerodynamic Steering of a 10 cm High-Speed Running Robot N.J. Kohut, D. Zarrouk, K.C. Peterson, R.S. Fearing, IEEE/RSJ Int.Conf. on Intelligent Robots, Tokyo, Nov. 2013.

Automatic Identification of Dynamic Piecewise Affine Linear Models for a Running Robot, D. Haldane, A.D. Buchan, R.S. Fearing, IEEE/RSJ Int.Conf. on Intelligent Robots, Tokyo, Nov. 2013

Ground fluidization promotes rapid running of a lightweight robot, T. Zhang, F. Qian, C. Li, P. Masarati, A. M. Hoover, P. Birkmeyer, A. Pullin, R.S. Fearing, and D.I. Goldman, The International Journal of Robotics Research June 2013 doi:10.1177/0278364913481690

Dry Self-Cleaning Properties of Hard and Soft Fibrillar Structures A. G. Gillies, J. Puthoff, M.J. Cohen, K. Autumn, and R. S. Fearing, ACS Applied Materials and Interfaces, June 2013. (just accepted)

Friction Characteristics of Polymeric Nanofiber Arrays against Substrates with Tailored Geometry Y. Kim, R.K. Claus, F. Limanto, R.S. Fearing, and R. Maboudian, Langmuir, June 2013.

Precise Dynamic Turning of a 10 Cm Legged Robot on a Low Friction Surface Using a Tail N.J. Kohut, A.O. Pullin, D.W. Haldane, D. Zarrouk, and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany May 6-10, 2013.

Cost of Locomotion of a Dynamic Hexapedal Robot, D. Zarrouk and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany May 6-10, 2013.

Sprawl Tuned Dynamic Hexapod D. Zarrouk, A.O. Pullin, N.J. Kohut, and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany May 6-10, 2013.

Animal-inspired Design and Aerodynamic Stabilization of a Hexapedal Millirobot D.W. Haldane, K.C. Peterson, F.L. Garcia Bermudez, and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany May 6-10, 2013, pp. 3279-3286. Best Paper Finalist

Cooperative Control for Window Traversal with an Ornithopter MAV and Lightweight Ground Station R. Julian, C. Rose, H. Hu, R.S. Fearing, Twelfth Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS2013), Minneapolis, MN May 6-10, 2013.

Controllable particle adhesion with a magnetically actuated synthetic gecko adhesive A. G. Gillies, J. Kwak, R.S. Fearing, Advanced Functional Materials, 7 Feb. 2013. (Cover article) DOI: 10.1002/adfm.201203122

Wet Self-Cleaning of Superhydrophobic Microfiber Adhesives Formed from High Density Polyethylene Jongho Lee and Ronald S. Fearing, Langmuir, DOI: 10.1021/la303017a October 16, 2012.

Compliance-Based Dynamic Steering for Hexapods, D. Zarrouk and R.S. Fearing, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Portugal Oct. 7-11, 2012.

Dynamic Climbing of Near-Vertical Smooth Surfaces, P. Birkmeyer*, A.G. Gillies*, and R.S. Fearing, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal Oct. 7-11, 2012. (* equal co-authors)

Rapid-Manufacturable Hair Sensor Array for Legged Millirobots, J.T. Karras, D.W. Haldane, and R.S. Fearing, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Portugal Oct. 7-11, 2012.

Performance analysis and terrain classification for a legged robot over rough terrain, F.L. Garcia Bermudez, R.C. Julian, D.W. Haldane, P. Abbeel, R.S. Fearing, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Portugal Oct. 7-11, 2012.

Towards a Minimal Architecture for a Printable, Modular, and Robust Sensing Skin, A.D. Buchan, J. Bachrach, R.S. Fearing, IEEE/RSJ Int. Robots and Systems, Portugal Oct. 7-11, 2012.

Autonomous Navigation of a 5 Gram Crawling Millirobot in a Complex Environment, A. Mathis, J. Russell, T. Moore, J. Cohen, B. Satterfield, N.J. Kohut, X-Y. Fu, and R.S. Fearing, CLAWAR 2012, Baltimore July 23-26, 2012.

Effect of inertial tail on yaw rate of 45 gram legged robot, N.J. Kohut, D.W. Haldane, D. Zarrouk, and R.S. Fearing, CLAWAR 2012, Baltimore July 23-26, 2012.

Walking and running on yielding and fluidizing ground F. Qian, T. Zhang, C. Li, P. Maserati, A.M. Hoover, P. Birkmeyer, A. Pullin, R.S. Fearing, and D.I. Goldman, Robotics Systems and Science, Sydney Australia July 9-13, 2012. (best student paper)

Rapid Inversion: Running Animals and Robots Swing like a Pendulum under Ledges Jean-Michel Mongeau, Brian McRae, Ardian Jusufi, Paul Birkmeyer, Aaron M. Hoover, Ronald Fearing, Robert J. Full, PLoS One, Jun 6, 2012. doi:10.1371/journal.pone.0038003

Dynamic turning of 13 cm robot comparing tail and differential drive, A.O. Pullin, N.J. Kohut, D. Zarrouk, and R. S. Fearing, IEEE Int. Conf. Robotics and Automation, May 14-18, 2012, Minneapolis, MN, pp. 5086-5093.

Maneuverability and Mobility in Palm-Sized Legged Robots, N.J. Kohut, P.M. Birkmeyer, K.C. Peterson, R.S. Fearing, Unmanned Systems Technology XIV, Proceedings of SPIE Volume 8387, 25 - 27 April 2012.

Role of Counter-substrate Surface Energy in Macroscale Friction of Nanofiber Arrays Yongkwan Kim, Francesca Limanto, Dae Ho Lee, Ronald S. Fearing, and Roya Maboudian, Langmuir, Jan. 20, 2012, DOI: 10.1021/la204078z

A wing-assisted running robot and implications for avian flight evolution K Peterson, P Birkmeyer, R Dudley and R S Fearing , Bioinspiration & Biomimetics, Volume 6 Number 4 , 2011 .

Carbon Nanotube Active-Matrix Backplanes for Conformal Electronics and Sensors T. Takahashi, K. Takei, A. G. Gillies, R. S. Fearing, A. Javey, Nano Letters, 11, 5408-5413, 2011.

Shear Adhesion Strength of Thermoplastic Gecko-Inspired Synthetic Adhesive Exceeds Material Limits Andrew G. Gillies and Ronald S. Fearing, Langmuir, August 17, 2011, DOI: 10.1021/la202085j.

Effect of Fiber Geometry on Macroscale Friction of Ordered Low-Density Polyethylene Nanofiber Arrays Dae Ho Lee, Yongkwan Kim, Ronald S. Fearing, and Roya Maboudian, Langmuir, July 20, 2011. DOI: 10.1021/la201498u

Experimental Dynamics of Wing Assisted Running for a Bipedal Ornithopter K.C. Peterson and R.S. Fearing, IEEE Int. Conf. Intelligent Robots and Systems, Sept. 2011.

Flight Control for Target Seeking by 13 gram Ornithopter Stanley S. Baek, Fernando L. Garcia Bermudez, and Ronald S. Fearing, IEEE Int. Conf. Intelligent Robots and Systems, Sept. 2011.

CLASH: Climbing Vertical Loose Cloth P. Birkmeyer, A. G. Gillies, and R. S. Fearing, IEEE Int. Conf. Intelligent Robots and Systems, Sept. 2011.

Optically- and Thermally-Responsive Programmable Materials Based on Carbon Nanotube-Hydrogel Polymer Composites Xiaobo Zhang, Cary L. Pint, Min Hyung Lee, Bryan Edward Schubert, Arash Jamshidi, Kuniharu Takei, Hyunhyub Ko, Andrew Gillies, Rizia Bardhan, Jeffrey J. Urban, Ming Wu, Ronald Fearing, Ali Javey Nano Letters Article ASAP

MEDIC: A Legged Millirobot Utilizing Novel Obstacle Traversal Nicholas J. Kohut, Aaron M. Hoover, Kevin Y. Ma, Stanley S. Baek, and Ronald S. Fearing, IEEE Int. Conf. Robotics and Automation, Shanghai May 2011.

Role of robustness in running: bio- and bio-inspired exoskeletons Full RJ, Jayaram K, Mongeau JM, Birkmeyer P, Hoover A, Fearing RS; Society for Integrative and Comparative Biology (abstract), Salt Lake City, Utah, Jan. 3-7, 2011.

Wing Assisted Locomotion of a 25 g Running Robot Peterson K, Birkmeyer P, Dudley R, Fearing RS; Society for Integrative and Comparative Biology (abstract), Salt Lake City, Utah, Jan. 3-7, 2011.

Nanowire active-matrix circuitry for low-voltage macroscale artificial skin K. Takei, T. Takahashi, J.C. Ho, H. Ko, A.G. Gillies, P.W. Leu, R.S. Fearing, and A. Javey, Nature Materials, 12 Sept. 2010, doi:10.1038/NMAT2835

A micromolded connector for reconfigurable millirobots A.G. Gillies and R.S. Fearing, J. Micromech. Microeng. 20 (2010) 105011.

Flight forces and altitude regulation of 12 gram i-Bird S. Baek and R.S. Fearing, IEEE BioRob, Tokyo, Sept. 2010 Best Paper Finalist

Bio-inspired design and dynamic maneuverability of a minimally actuated six-legged robot A.M. Hoover, S. Burden, X-Y. Fu, S.S. Sastry, and R. S. Fearing, IEEE BioRob, Tokyo Sept. 2010

Systematic study of the performance of small robots on controlled laboratory substrates C. Li, A. M. Hoover, P. Birkmeyer, P.B. Umbanhowar, R.S. Fearing, and D.I. Goldman SPIE Defense, Security, & Sensing Conference, Orlando, FL April 2010

Challenges for 100 milligram flapping flight R.S. Fearing, and R. J. Wood. In Flying Insects and Robots, pp. 219-229. Springer, Berlin, Heidelberg, 2009.

Gecko-inspired Combined Lamellar and Nanofibrillar Array for Adhesion on Non-planar Surface J. Lee, B. Bush, R. Maboudian, and R.S. Fearing Langmuir, DOI: 10.1021/la9029672 Oct. 2009.

Efficient Resonant Drive of Flapping Wing Robots S.S. Baek, K.Y. Ma, R.S. Fearing, IEEE Int. Conf. Intelligent Robots and Systems, St. Louis, MO Oct. 2009.

Optical flow on a flapping wing robot F. Garcia Bermudez and R. S. Fearing, IEEE Int. Conf. Intelligent Robots and Systems, St. Louis, MO Oct. 2009.

Analysis of off-axis performance of compliant mechanisms with applications to mobile millirobots A.M. Hoover and R.S. Fearing IEEE Int. Conf. Intelligent Robots and Systems, St. Louis, MO Oct. 2009.

DASH: A Dynamic 15g Hexapedal Robot P. Birkmeyer, K. Peterson, and R.S. Fearing IEEE Int. Conf. Intelligent Robots and Systems, St. Louis, MO Oct. 2009.

Wet and Dry Adhesion Properties of Self-Selective Nanowire Connectors H. Ko, Z. Zhang, Y.-L. Chueh, J.C. Ho, R.S. Fearing, and A. Javey Advanced Functional Materials, DOI:10.1002/adfm.200901178, 25 August 2009.

Development of micromechanics for micro-autonomous systems (ARL-MAST CTA Program) J.S. Humbert. I. Chopra, R.S. Fearing, R. J. Full, R. J. Wood, and M.H. Dickinson, Proc. SPIE, Vol. 7318, 73180L (2009); DOI:10.1117/12.820881

Hybrid CoreShell Nanowire Forests as Self-Selective Chemical Connectors, H. Ko, J. Lee, B.E. Schubert, Y.-L. Chueh, P.W. Leu, R.S. Fearing, and A. Javey, Nano Letters, April 24, 2009, DOI: 10.1021/nl900343b

Dynamometer Power Output Measurements of Miniature Piezoelectric Actuators E. Steltz and R. S. Fearing, IEEE/ASME Trans. on Mechatronics, vol. 14, no. 1, pp. 1-10, Feb. 2009.

Reducing Contact Resistance Using Compliant Nickel Nanowire Arrays S. Baek and R. S. Fearing, IEEE Trans. on Components and Packaging Technology,vol. 31, no. 4, pp. 859-868, Dec. 2008.

Directional adhesion of gecko-inspired angled microfiber arrays J. Lee, R. S. Fearing, K. Komvopolous, Applied Physics Letters, vol. 93, no. 191910, 2008. doi:10.1063/1.3006334 Copyright (2008) American Institute of Physics. This article may be downloaded for personal use only. Any other use requires prior permission of the author and the American Institute of Physics. The article may be found at ( http://link.aip.org/link/?APPLAB/93/191910/1 ).

Effect of surface roughness on adhesion and friction of microfibers in side contact M. Teodorescu, C. Majidi, H. Rahnejat, and R.S. Fearing, Proc. of the STLE/ASME Int. Joint. Tribology Conf. Oct. 20-22, 2008 Miami FL.

RoACH: An autonomous 2.4g crawling hexapod robot, A. Hoover, E. Steltz, and R.S. Fearing IEEE Int. Conf. on Intelligent Robots and Systems, Nice France Sept. 2008.

Contact Self-Cleaning of Synthetic Gecko Adhesive from Polymer Microfibers Jongho Lee and R.S. Fearing Langmuir 10 Sep. 2008, doi:10.102/la8021485.

A Fast Scale Prototyping Process for Folded Millirobots A.M. Hoover and R.S. Fearing IEEE Int. Conf. Robotics and Automation Pasadena, May 2008.

Macromodel for the Mechanics of Gecko Hair Adhesion M.P. Reyes and R.S. Fearing IEEE Int. Conf. Robotics and Automation Pasadena, May 2008.

Microrobot design using fiber reinforced composites R.J. Wood, S. Avadhanula, R. Sahai, E. Steltz, R.S. Fearing ASME Journal of Mechanical Design, vol. 130, no. 5, 2008.

Mechanics of a novel shear-activated microfiber array adhesive C. Majidi and R.S. Fearing Mater. Res. Soc. Symp. Proc. Vol. 1086-U01-11, March 2008.

Adhesion of an elastic plate to a sphere C. Majidi and R.S. Fearing Proc. Royal Society, A, doi:10.1098/rspa.2007.0341, Feb. 2008.

Sliding induced adhesion of stiff polymer microfiber arrays: 1. Macroscale behaviour, J. Lee, C. Majidi, B. Schubert, R.S. Fearing Journal Royal Society, Interface, Jan. 22, 2008. 10.1098/rsif.2007.1308

Sliding induced adhesion of stiff polymer microfiber arrays: 2. Microscale behaviour , B. Schubert, J. Lee, C. Majidi, R.S. Fearing, Journal Royal Society, Interface, Jan. 22, 2008. 10.1098/rsif.2007.1309

Analysis for Shaft-loaded Membrane Delamination using Stationary Principles C. Majidi, R.E. Groff, and R.S. Fearing, Mathematics and Mechanics of Solids, January 2007, 1081286506068823. Vol. 13, No. 1, 3-22 (2008).

Towards friction and adhesion from high modulus microfiber arrays B. Schubert, C. Majidi, R. E. Groff, S. Baek, B. Bush, R. Maboudian, R.S. Fearing, Journal of Adhesion Science and Technology, 21(12-13), pp. 1297-1315 (2007).

Dynamometer Power Output Measurements of Piezoelectric Actuators, E. Steltz and R.S. Fearing, IEEE Int. Conf. on Intelligent Robots and Systems, San Diego, CA Oct. 2007.

High Lift Force with 275 Hz Wing Beat in MFI, E. Steltz, S. Avadhanula and R.S. Fearing, IEEE Int. Conf. on Intelligent Robots and Systems, San Diego, CA Oct. 2007.

An Autonomous Palm-Sized Gliding Micro Air Vehicle: Design, Fabrication, and Results of a Fully Integrated Centimeter-Scale MAV, R.J. Wood, S. Avadhanula, E. Steltz, M. Seeman, J. Entwistle, A. Bachrach, G. Barrows, S. Sanders, and R.S. Fearing, IEEE Robotics and Automation Magazine, vol. 4, no. 2, pp. 82-91, June 2007.

Rapidly Prototyped Orthotweezers for Automated Microassembly A. Hoover and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Rome Italy, April 9-13, 2007.

Challenges for Effective Millirobots R.S. Fearing Int. Symp. on. Micro-NanoMechatronics and Human Science, Nagoya Japan Nov. 5-8, 2006.

Power Electronics Design Choice for Piezoelectric Microrobots, E. Steltz, M. Seeman, S. Avadhanula, and R.S. Fearing, Int. Conf. on Intelligent Robots and Systems, Beijing, China Oct.9-13, 2006.

Effective elastic modulus of isolated gecko setal arrays K. Autumn, C. Majidi, R.E. Groff, A. Dittmore, and R. Fearing Journal of Experimental Biology, vol. 209, pp. 3558-3568, 2006.

High friction from a stiff polymer using micro-fiber arrays C. Majidi, R.E. Groff, K. Autumn, S. Baek, B.Bush, N. Gravish, R. Maboudian, Y. Maeno, B. Schubert, M. Wilkinson, and R.S. Fearing, Physical Review Letters, vol. 97, no. 076103, 18 August 2006. Copyright (2006) by the American Physical Society.

A Rapidly Prototyped 2-Axis Positioning Stage for Microassembly using Large Displacement Compliant Mechanisms A. Hoover and R.S. Fearing IEEE Int. Conf. on Robotics and Automation, Orlando, FL May 2006.

Towards a 3g Crawling Robot through the Integration of Microrobot Technologies R. Sahai, R.E. Groff, E. Steltz, M. Seeman, and R.S. Fearing IEEE Int. Conf. on Robotics and Automation, Orlando, FL May 2006.

Attachment of Fiber Array Adhesive through Side Contact, C. S. Majidi, R.E. Groff, and R.S. Fearing, Journal of Applied Physics, J. Appl. Phys. 98, 103521 (2005).

Design, Fabrication and Initial Results of a 2g Autonomous Glider R.J. Wood, S. Avadhanula, E. Steltz, M. Seeman, J. Entwistle, A. Bachrach, G. Barrows, S. Sanders, and R.S. Fearing, 31st Annual Conference, IEEE Industrial Electronics Society 2005 Meeting, Raleigh North Carolina, Nov. 6-10, 2005.

Nonlinear Performance Limits for High Energy Density Piezoelectric Bending Actuators R.J. Wood, E. Steltz, and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Barcelona, April 2005.

Flexure Design Rules for Carbon Fiber Microrobotic Mechanisms, S. Avadhanula and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Barcelona, April 2005.

Characterization of the Micromechanical Flying Insect by Optical Position Sensing, E. Steltz, S. Avadhanula, R.J. Wood, and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Barcelona, April 2005.

Carbon Fiber Components with Integrated Wiring for Millirobot Prototyping, R. Sahai, E. Steltz, and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Barcelona, April 2005.

Optimal Energy Density Piezoelectric Bending Actuators R.J. Wood, E. Steltz, and R.S. Fearing Sensors and Actuators, Vol 119/2 pp 476-488, 2005.

Clumping and Packing of Nanohairs Manufactured by Nanocasting, C. Majidi, R. Groff, and R. Fearing, 2004 ASME Int. Mechanical Engineering Congress and Exposition. IMECE2004-62142, Anaheim, CA Nov. 13-19, 2004.

Apparatus and method for manipulation of an object R.S. Fearing and E. Shimada, US Patent 6,798,120 Sept. 28, 2004.

Wing Force Map Characterization and Simulation for the Micromechanical Flying Insect J. Yan and R.S. Fearing IEEE Int. Conf. on Intelligent Robots and Systems, Oct 28-30, 2003, Las Vegas NV.

Lift Force Improvements for the Micromechanical Flying Insect S. Avadhanula, R. J. Wood, E. Steltz, J. Yan and R. S. Fearing IEEE Int. Conf. on Intelligent Robots and Systems, Oct 28-30, 2003, Las Vegas NV.

Semi-Automated Micro Assembly for Rapid Prototyping of a One DOF Surgical Wrist R. Sahai, J. Lee, and R.S. Fearing, IEEE Int. Conf. on Intelligent Robots and Systems, Oct 28-30, 2003, Las Vegas NV.

Microrobotics using Composite Materials: the Micromechanical Flying Insect Thorax, R.J. Wood, S. Avadhanula, and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation 2003, Taipei, Taiwan.

Development of Piezoelectric Bending Actuators with Embedded Piezoelectric Sensors for Micromechanical Flapping Mechanisms, D. Campolo, R. Sahai, R. S. Fearing, ICRA 2003, Taipei, Taiwan.

Biomimetic Sensor Suite for Flight Control of a Micromechanical Flight Insect:Design and Experimental Results, W.C. Wu and L. Schenato and R.J. Wood and R.S. Fearing, ICRA 2003, Taipei, Taiwan.

Synthetic gecko foot-hair micro/nano-structures for future wall climbing robots Metin Sitti and Ronald S. Fearing, IEEE Int. Conf. on Robotics and Automation, Taiwan, May/Sept. 2003.

Fabrication of Gecko foot-hair like nano structures and adhesion to random rough surfaces, D. Campolo, S.D. Jones and R. S. Fearing, IEEE Nano 2003 Aug 12-14, San Francisco.

Synthetic Gecko Foot-Hair Micro/Nano-Structures as Dry Adhesives, M. Sitti, and R.S. Fearing, Journal of Adhesion Science and Technology, vol. 17, no.8, pp. 1055, 2003.

Efficient Charge Recovery Method for Driving Piezoelectric Actuators in Low Power Applications, D. Campolo, M. Sitti, and R.S. Fearing , IEE E Trans. on Ultrasonics, Ferroelectrics and Frequency Control vol. 50, no.3, pp. 237-244, Mar. 2003.

Evidence for van der Waals adhesion in gecko setae K. Autumn, M. Sitti, Y.A. Liang, A.M. Peattie, W.R. Hansen, S. Sponberg, T. Kenny, R. Fearing, J.N. Israelachvili, and R.J. Full, Proceedings National Academy of Sciences, vol. 99, no. 19, pp. 12252-12256, September 17, 2002.

Towards Automatic Assembly of Sub-Centimeter Millirobot Structures, R. Sahai, J. Lee, and R.S. Fearing, Third Int. Workshop on Microfactories Minneapolis, MN, Sept. 16-18, 2002.

Nanomolding Based Fabrication of Synthetic Gecko Foot-Hairs M. Sitti and R.S. Fearing , 2nd IEEE Conf. on Nanotechnology, Washington, D.C.   August 26-28, 2002.

Wing transmission for a micromechanical flying insect, J. Yan, S.A. Avadhanula, J. Birch, M.H. Dickinson, M. Sitti, T. Su, and R.S. Fearing, Journal of Micromechatronics, vol. 1, no. 3, pp. 221-238, 2002. pdf

Halteres for the Micromechanical Flying Insect, W.C. Wu, R.J. Wood, R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Washington, DC May 11-15, 2002

Dynamically tuned design of the MFI thorax S. Avadhanula, R. J. Wood, D. Campolo, R. S. Fearing, IEEE Int. Conf. on Robotics and Automation, Washington, DC May 11-15, 2002.

The Micromechanical Flying Insect Joe Yan, et al. video presentation: IEEE Int. Conf. on Robotics and Automation, Washington, DC May 11-15, 2002.

Orienting Micro-Scale Parts with Squeeze and roll Primitives, M. Moll, K. Goldberg, M.A. Erdmann, and R. Fearing, IEEE Int. Conf. on Robotics and Automation, Washington, DC May 11-15, 2002.

Automating Microassembly with Ortho-tweezers and Force Sensing, J.A. Thompson and R.S. Fearing, IROS 2001, Maui, HI, Oct. 29-Nov. 3, 2001.

Flight Force Measurements for a Micromechanical Flying Insect, R.J. Wood and R.S. Fearing, IROS 2001, Maui, HI, Oct. 29-Nov. 3, 2001.

Development of PZT and PZN-PT Based Unimorph Actuators for Micromechanical Flapping Mechanisms, M. Sitti, D. Campolo, J. Yan, R.S. Fearing, T. Su, D. Taylor, and T. Sands, IEEE Int. Conf. Robotics and Automation, pp. 3839-3846, Seoul Korea, May 21-26, 2001.

Towards Micromechanical Flyers R.S. Fearing, Frontiers of Engineering, The Bridge, pp. 4-8, Winter 2001.

Towards Flapping Wing Control for a Micromechanical Flying Insect, J. Yan, R. Wood, S. Avandhanula, M. Sitti, R. S. Fearing, IEEE Int. Conf. Robotics and Automation, pp. 3901-3908, Seoul Korea, May 21-26, 2001.

Hybrid Pneumatic/Electrostatic Milli-Actuator (postscript) (pdf) K. H. Chiang and R.S. Fearing, 2000 ASME International Mechanical Engineering Congress and Exposition, vol. MEMS, Nov. 5-10, 2000, Orlando, FL.

Prototyping Millirobots using Dextrous Microassembly and Folding E. Shimada, J.A. Thompson, J. Yan, R.J. Wood and R.S. Fearing, Symposium on Microrobotics, ASME Int. Mechanical Engineering Cong. and Exp., DSC-Vol. 69-2, pp. 933-940, Nov. 5-10, 2000, Orlando, FL.

Adhesive force of a single gecko foot-hair, K. Autumn, Y. Liang, T. Hsieh, W. Zesch, W.-P. Chan, T. Kenny, R. Fearing, and R.J. Full, Nature , vol. 405, pp. 681-685, June 8, 2000.

Wing Transmission for a Micromechanical Flying Insect pdf R.S. Fearing, K.H. Chiang, M. Dickinson, D.L. Pick, M. Sitti, and J. Yan, IEEE Int. Conf. on Robotics and Automation, April, 2000.

A Compliant Tactile Display for Teletaction G. Moy, C. Wagner, and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, April 2000.

Human Psychophysics for Teletaction System Design G. Moy, U. Singh, E. Tan, and R.S. Fearing Haptics-e The Electronics Journal of Haptics Research Vol. 1, No. 3, February, 18, 2000.

Adhesion Force Measurements on Single Gecko Setae Y. Liang, K. Autumn, S.T. Hsia, W. Zesch, W.P. Chan, R.S. Fearing, R.J. Full, and T.W. Kenny, Technical Digest to the Solid-State Sensors and Actuators Workshop: p. 33-38, June 2000, Hilton Head SC.

Inclusion Probing: Signal Detection and Haptic Playback of 2D FEM and Experimental Data (pdf) J. Yan, P.K. Scott, and R.S. Fearing 8th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Proc. ASME IMECE DSC-5, Nashville, TN Nov. 14-19, 1999.

Tracking Fast Inverted Trajectories of the Underactuated Acrobot M.D. Berkemeier and R.S. Fearing, IEEE Trans. on Robotics and Automation, vol. 15, no.4, pp. 740-750, August 1999.

Alignment of Microparts Using Force Controlled Pushing (pdf) W. Zesch and R.S. Fearing SPIE Conf. on Microrobotics and Micromanipulation, Nov. 2-5 1998, Boston, MA, USA

Micro-Actuators for Micro-Robots: Electric and Magnetic, R.S. Fearing, Micromechanical Systems: Principles and Technology, edited by T. Fukuda and W. Menz, pp. 161-179, Elsevier Science B.V.: Amsterdam 1998.

Effects of Shear Stress in Teletaction and Human Perception (pdf) G. Moy and R.S. Fearing 7th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME IMECE Anaheim, CA Nov. 1998.

Tactile After-Images from Static Contact (pdf) U. Singh and R.S. Fearing 7th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME IMECE Anaheim, CA Nov. 1998.

Powering 3 Dimensional Microrobots: Power Density Limitations PDF version R.S. Fearing tutorial on ``Micro Mectronics and Micro Robotics'' IEEE Int. Conf. Robotics and Automation, May 1998.

Sliding and Hopping Gaits for the Underactuated Acrobot M.D. Berkemeier and R.S. Fearing, , IEEE Trans. on Robotics and Automation , vol. 14, no.4, pp. 629-634, August 1998. DOI: 10.1109/70.704235

Applications of Micromechatronics in Minimally Invasive Surgery F. Tendick, S.S. Sastry, R.S. Fearing, and M. Cohn,  IEEE/ASME Trans. on Mechatronics , vol. 3, no.1, pp. 34-42, March 1998.

Some Basic Issues in Teletaction (pdf) R.S. Fearing, G. Moy, and E. Tan IEEE Int. Conf. Robotics and Automation, April 1997.

A Surface Micromachined Microtactile Sensor Array (pdf) B.L. Gray and R.S. Fearing IEEE Int. Conf. Robotics and Automation, April 1996.

A Planar Milli-Robot System on an Air Bearing (Postscript) (Printer Dependent Format) R.S. Fearing, in 7th Int. Symp. Robotics Research , edited by G. Giralt and G. Hirzinger, pp. 570-581, New York: Springer 1996.

A Planar Capacitive Micro Positioning Sensor H. Furuichi and R.S. Fearing, ``'', 7th Int. Symp. on Micro Machine and Human Science, pp. 85-90, Nagoya, Japan, Oct. 2-4, 1996.

Survey of Sticking Effects for Micro Parts Handling and ps R.S. Fearing, IEEE Int. Conf. Robotics and Intelligent Systems IROS '95, Pittsburgh, PA August 7-9, 1995.

The reliability of curvature estimates from Linear elastic tactile sensors (pdf) E.J. Nicolson and R.S. Fearing, IEEE Int. Conf. Robotics and Automation, Nagoya May, 1995

Control Experiments on an Underactuated Robot with Application to Legged Locomotion M.D. Berkemeier and R.S. Fearing, IEEE Int. Conf. Robotics and Automation , San Diego, CA May 10-12, 1994, pp. 149-154.

Sensing Capabilities of Linear Elastic Cylindrical Fingers E.J. Nicolson and R.S. Fearing, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems , Yokohama, Japan, July 1993.

Compliant Control of Threaded Fastener Insertion E.J. Nicolson and R.S. Fearing, IEEE Int. Conf. Robotics and Automation, Atlanta, GA May 3-5, 1993.

Determining the Axis of a Surface of Revolution Using Tactile Sensing M.D. Berkemeier and R.S. Fearing, IEEE Trans. on Pattern Analysis and Machine Intelligence , vol. 15, no. 10, pp. 1079-1087, Oct. 1993. (also see UCB ERL Memo 89-117, Oct. 1989. )

Microfabricated Hinges, K.S.J. Pister, M.W. Judy, S.R. Burgett, and R.S. Fearing, Sensors and Actuators A , vol. 33, pp. 249-256, 1992.

A Miniature Mobile Platform on an Air Bearing, R.S. Fearing, ``Third Intern. Symp. on Micro Machine and Human Science, Oct 14-16, 1992, Nagoya, Japan.

Tactile Feedback for Teleoperation M.B. Cohn, M. Lam, and R.S. Fearing, SPIE Conf. 1833, Telemanipulator Technology, Boston, MA, Nov. 15-16, 1992. DOI: 10.1117/12.142113

Three Dimensional Structures Made with Microfabricated Hinges S.R. Burgett, K.S.J. Pister, and R.S. Fearing, DSC-Vol. 40 Micromechanical Systems, ASME Winter Annual Meeting, Anaheim, CA Nov. 8-13, 1992.

Control of a Two-Link Robot to Achieve Sliding and Hopping Gaits M.D. Berkemeier and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation , Nice France, May, 1992.

Microfabricated Hinges K.S.J. Pister, M.W. Judy, S.R. Burgett, and R.S. Fearing, Sensors and Actuators A , vol. 33, pp. 249-256, 1992.

Dynamic Modelling of a Part Mating Problem: Threaded Fastener Insertion ' E.J. Nicolson and R.S. Fearing, IEEE Workshop on Intelligent Robots and Systems , Osaka, Japan, Nov. 3-5, 1991. Best Conference Paper Award

Control of a Micro-Organism as a Prototype Micro-Robot R.S. Fearing, 2nd Int. Symp. on Micromachines and Human Sciences , Nagoya, Japan, Oct. 8-9, 1991.

Microfabricated Hinges: 1 mm Vertical Features with Surface Micromachining K.S.J. Pister, M.W. Judy, S.R. Burgett, and R.S. Fearing, ``IEEE Transducers `91 , San Francisco, CA June 1991.

Using a Cylindrical Tactile Sensor for Determining Curvature R.S. Fearing and T.O. Binford, ``,'' IEEE Trans. on Robotics and Automation , Dec. 1991.

R.S. Fearing, ``Tactile Sensing Mechanisms'', Int. Journal of Robotics Research , vol. 9, no. 3, June 1990. link doi: 10.1177/027836499000900301

M.D. Berkemeier and R.S. Fearing, ``Determining the Axis of a Surface of Revolution Using Tactile Sensing'', IEEE Int. Conf. on Robotics and Automation , Cincinnati, OH May 1990. See UCB ERL Memo 89-117, Oct. 1989.

E.M. Sladek and R.S. Fearing, ``The Dynamic Response of a Tactile Sensor'', IEEE Int. Conf. on Robotics and Automation, Cincinnati, OH May 1990.

K.S.J. Pister, R.S. Fearing, and R.T. Howe, ``A Planar Air Levitated Electrostatic Actuator System'', IEEE Workshop on Micro Electro Mechanical Systems, Napa Valley, CA Feb. 12-14 1990.

S. Gopalswamy and R.S. Fearing, ``Grasping of Polyhedral Objects with Slip'', IEEE Int. Conf. on Robotics and Automation, Scottsdale AZ, May 1989.

R.S. Fearing and T.O. Binford, Using a Cylindrical Tactile Sensor for Determining Curvature,'' IEEE Int. Conf. on Robotics and Automation , Philadelphia, PA, April 1988. R.S. Fearing, `` Some Experiments with Tactile Sensing during Grasping ,'' IEEE Int. Conf. on Robotics and Automation , Raleigh, NC, April 1987.

J.B. Chen, B.S. Armstrong, R.S. Fearing, J.W. Burdick, ``Satyr and the Nymph: Software Archetype for Real Time Robotics'', IEEE-ACM Joint Computer Conference , Dallas, TX November 1986.

R.S. Fearing, A. Rise, and T.O. Binford, ``A Tactile Sensing Finger Tip for a Dextrous Hand,'' SPIE Conference on Intelligent Robotics and Computer Vision, Cambridge, MA October 1986.

J.B. Chen, R.S. Fearing, B.S. Armstrong, and J.W. Burdick, ``NYMPH: A Multiprocessor for Manipulation Applications'', IEEE Int. Conf. on Robotics and Automation, San Francisco, CA April, 1986.

R.S. Fearing ``Implementing a Force Strategy for Object Re-orientation,'' IEEE Int. Conf. on Robotics and Automation, San Francisco, CA April, 1986.

R.S. Fearing, ``Simplified Grasping and Manipulation with Dextrous Robot Hands'', Proceedings of the American Control Conference , San Diego, CA, June 1984. See also IEEE Jnl. of Robotics and Automation, RA-2, no,4, Dec. 1986.

R.S. Fearing and J.M. Hollerbach, ``Basic Solid Mechanics for Tactile Sensing,'' IEEE Int. Conf. on Robotics and Automation , Atlanta GA, March 1984. See also Int. Jnl. Robotics Research, vol. 4 no.3, Fall 1985.