Stress-driven MEMS assembly + electrostatic forces = 1mm diameter robot

Karagozler, Mustafa Emre; Goldstein, Seth Copen; Reid, J.R.

doi:10.1109/iros.2009.5354049

Cited by 33 publications

(29 citation statements)

References 7 publications

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“…Other approaches to shape formation rely on modules with internal degrees of freedom that are able to modify their topology in some way [5]- [7]. There are also hybrid systems [8]- [11] in which neighboring modules join to accomplish relative actuation.…”

Section: Related Workmentioning

confidence: 99%

Robot pebbles: One centimeter modules for programmable matter through self-disassembly

Gilpin

Knaian

Rus

2010

2010 IEEE International Conference on Robotics and Automation

162

133

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Abstract-This paper describes the design, fabrication, and experimental results of a programmable matter system capable of 2D shape formation through subtraction. The system is composed of autonomous 1cm modules which use customdesigned electropermanent magnets to bond, communicate, and share power with their neighbors. Given an initial block composed of many of these modules latched together in a regular crystalline structure, our system is able to form shapes by detaching the unnecessary modules. Many experiments show that the modules in our system are able to distribute data at 9600bps to their neighbors with a 98.5% success rate after four retries, and the connectors are able to support over 85 times the weight of a single module.

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Section: Related Workmentioning

confidence: 99%

Robot pebbles: One centimeter modules for programmable matter through self-disassembly

Gilpin

Knaian

Rus

2010

2010 IEEE International Conference on Robotics and Automation

162

133

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“…Our general system is modeled by an external ac source, capacitively coupled to a microsystem, such as a microrobot [7], Fig. 1(a).…”

Section: Power Transfer Modelmentioning

confidence: 99%

Analysis and Modeling of Capacitive Power Transfer in Microsystems

Karagozler

Goldstein

Ricketts

2012

IEEE Trans. Circuits Syst. I

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Abstract-As externally powered microsystems become more common, designers need better tools to understand power delivery systems such as non-resonant capacitive coupling. In this paper we present the first general method which allows a designer to easily model power delivery through capacitive coupling. The method uses a power iteration technique which allows one to analyze systems when the time to charge the coupling capacitor is longer than a charge cycle, enabling us to analyze a greater range of systems than previously possible. In fact, we are able to model the entire system with an equivalent resistance.We show that our model accurately reproduces both static and dynamic characteristics of the exact solution and that this model is general, in that it is valid for capacitor charge times that are longer as well as shorter than a charge cycle. This model also reveals several regions of operation where different parameters (e.g. capacitance, frequency and series resistance) dominate, allowing the designer to quickly and intuitively understand the design space for capacitive power transfer.

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“…The distributed duplication algorithm that we present here is generic and can be implemented on the Catoms, the Digital Clay modules [20], or the Miche [21] and Robot Pebble [1] programmable matter systems. While many programmable matter systems do not yet exhibit enough inter-module torque and force to withstand utilization as tools, there is hope that they eventually will [22], [23], [1].…”

Section: A Related Workmentioning

confidence: 99%

A distributed algorithm for 2D shape duplication with smart pebble robots

Gilpin¹,

Rus²

2012

2012 IEEE International Conference on Robotics and Automation

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Abstract-We present our digital fabrication technique for manufacturing active objects in 2D from a collection of smart particles. Given a passive model of the object to be formed, we envision submerging this original in a vat of smart particles, executing the new shape duplication algorithm described in this paper, and then brushing aside any extra modules to reveal both the original object and an exact copy, side-byside. Extensions to the duplication algorithm can be used to create a magnified version of the original or multiple copies of the model object. Our novel duplication algorithm uses a distributed approach to identify the geometric specification of the object being duplicated and then forms the duplicate from spare modules in the vicinity of the original. This paper details the duplication algorithm and the features that make it robust to (1)

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Stress-driven MEMS assembly + electrostatic forces = 1mm diameter robot

Cited by 33 publications

References 7 publications

Robot pebbles: One centimeter modules for programmable matter through self-disassembly

Robot pebbles: One centimeter modules for programmable matter through self-disassembly

Analysis and Modeling of Capacitive Power Transfer in Microsystems

A distributed algorithm for 2D shape duplication with smart pebble robots

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