Recent Publications

Climbing Robot Publications

For links to videos and articles in the media see: VideosAndMedia

S. Trujillo, B. Heyneman, M.R. Cutkosky, "Constrained Convergent Gait Regulation for a Climbing Robot," IEEE ICRA10, Anchorage, May 2010.

A. Asbeck, Compliant Directional Suspensions for Climbing with Spines and Adhesives, Ph.D. Thesis, Dept. Electrical Engineering, Stanford University, March 2010.

S. Trujillo and M.R. Cutkosky,"Thermally Constrained Motor Operation for a Climbing Robot," IEEE ICRA09, Kobe, Japan, May 2009.

• Preprint of paper

A. Asbeck, S. Dastoor, A. Parness, L. Fullerton, N. Esparza, D. Soto, B. Heyneman and M.R. Cutkosky, "Climbing rough vertical surfaces with hierarchical directional adhesion," IEEE ICRA09, Kobe, Japan, May 2009.

• preprint of paper

D. Santos, B. Heyneman, S. Kim, N. Esparza, and M.R. Cutkosky, Gecko-Inspired Climbing Behaviors on Vertical and Overhanging Surfaces, proceedings: IEEE ICRA 2008, Pasadena, May 19-23, 2008.

• Finalist, Best Student Paper

M.R. Cutkosky and S. Kim, Design and Fabrication of Multi-Material Structures for Bio-Inspired Robots, Philosophical Transactions of the Royal Society A, 367 (1894) special issue on Biomimetics, April, 2009.

B. Howley and M.R. Cutkosky, Safe Control of Hopping in Uneven Terrain, Journal of Dynamic Systems, Measurement and Control, ASME, Vol. 131, No. 1, January 2009.

Lanzetta M., Cutkosky M.R., Shape deposition manufacturing of biologically inspired hierarchical microstructures, CIRP Annals Volume 57, Issue 1, 2008, Pages 231-234.

D. Santos, B. Heyneman, S. Kim, N. Esparza, and M.R. Cutkosky, Gecko-Inspired Climbing Behaviors on Vertical and Overhanging Surfaces, proceedings: IEEE ICRA 2008, Pasadena, May 19-23, 2008.

• Finalist, Best Student Paper

S. Kim, M. Spenko, S. Trujillo, B. Heyneman, D. Santos, M.R. Cutkosky, "Smooth Vertical Surface Climbing with Directional Adhesion," IEEE Transactions on Robotics, Vol. 24, February 2008.

• (Preprint)
• awarded King-Sun Fu Memorial Best Transactions on Robotics Paper Award, May 2009.

M. Spenko, G.C. Haynes, J.A. Saunders, M.R. Cutkosky, A.A. Rizzi, R.J. Full, D.E. Koditschek, "Biologically Inspired Climbing with a Hexapedal Robot," Journal of Field Robotics, Volume 25, Issue 4-5, 2008.

S. Kim, M. Spenko, S. Trujillo, B. Heyneman, V. Mattoli, M.R. Cutkosky, "Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot," IEEE ICRA07, April 2007.

• IEEE Best Student Paper award and Finalist, Best Paper.
• Accompanying video (5MB Quicktime)

D. Santos, S. Kim, M. Spenko, A. Parness, M.R. Cutkosky , "Directional Adhesive Structures for Controlled Climbing on Smooth Vertical Surfaces," IEEE ICRA07, April 2007.

Y-L Park, K. Chau, R.J. Black, and M.R. Cutkosky, "Force Sensing Smart Robot Fingers using Embedded Fiber Bragg Grating Sensors and Shape Deposition Manufacturing," IEEE ICRA07, April 2007.

• Finalist, Best Manipulation Paper award

A. McClung, "Techniques for Dynamic Maneuvering of Hexapedal Legged Robots", PhD thesis, Dec. 2006.

A. Asbeck, S. Kim, M.R. Cutkosky, W.R. Provancher and M. Lanzetta, “Scaling Hard Vertical Surfaces with Compliant Microspine Arrays,” International Journal of Robotics Research, Vol 15, No. 12, 2006, pp. 1165-1180.

S, Kim, J.E. Clark and M.R. Cutkosky, "iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running," International Journal of Robotics Research, Vol. 25, No. 9, Sept. 2006.

Asbeck, A.T., Kim, S., McClung, A., Parness, A., and Cutkosky, M.R., Climbing Walls with Microspines," , IEEE ICRA, May 2006, Orlando, Fla. (Short paper describes adaptation of the SpinyBot technology to the RisePlatform? .)

• video (winner of IEEE ICRA Best Video Award) that goes with the paper

J.E. Clark and M.R. Cutkosky, “The Effect of Leg Specialization in a Biomimetic Hexapedal Running Robot,” ASME Journal of Dynamic Systems, Measurement and Control, Vol. 128, No. 1, pp. 26-35, March 2006.

Kim, S., Asbeck, A., Provancher, W., and Cutkosky, M.R., “SpinybotII: Climbing Hard Walls with Compliant Microspines,” IEEE ICAR, Seattle, WA, July, 18-20, 2005. ( See also the SpinyBot page.)

Hatanaka, M., Design and Fabrication OF Multimaterial Flexible Mechanisms with Embedded Components, Ph.D. thesis June 2005. (17MB PDF).

Asbeck, A., Kim, S., Provancher, W.R., Cutkosky, M.R. and Lanzetta, M., “Scaling Hard Surfaces With Microspine Arrays,” Robotics: Science and Systems, MIT, June 8-10, 2005.

Autumn, K., et al., Robotics in scansorial environments, Proc. SPIE Int. Soc. Opt. Eng. 5804, 291 (2005)

Provancher, W., Clark J.E., Geisler, B. and Cutkosky, M.R., “Towards Penetration-Based Clawed Climbing,” Proc. CLAWAR, Madrid, Spain, Sept. 22-24, 2004.

A. McClung, J.G. Cham and M.R. Cutkosky, “Rapid Maneuvering of a Biologically Inspired Hexapedal Robot,” Proc. ASME IMECE2004-61150, Anaheim, CA, Nov. 19, 2004.

J. Clark, D.G. Thelen and M.R. Cutkosky, “Dynamic Simulation and Analysis of a Passively Self-Stabilizing Hexapedal Running Robot,” Proc. ASME IMECE2004-62117, Anaheim, CA, Nov. 19, 2004.

Kim, S., Clark, J.E. and Cutkosky, M.R., “Isprawl : Autonomy, and the Effects of Power Transmission,” Proc. CLAWAR, Madrid, Spain, Sept. 22-24, 2004. ( See also the IndependentSprawl page.)

Climbing Adhesion Publications

P. Day, M. Cutkosky, R. Greco, and A. Mclaughlin, The effect of He2+ Ion Irradiation on Adhesion of Polymer Micro-structure Based Dry Adhesives. ANS Journal of Nuclear Science and Engineering. Accepted, September 2010.

D. Soto, Force Space Studies of Elastomeric Anisotropic Fibrillar Adhesives, Ph.D. thesis, Stanford University, August 2010.

D. Soto, G Hill, A Parness, N Esparza, M Cutkosky, and T Kenny, "Effect of fibril shape on adhesive properties," Appl. Phys. Lett. 97, 053701 (2010), DOI:10.1063/1.3464553.

N Gravish, M Wilkinson, S Sponberg, A Parness, N Esparza, D Soto, T Yamaguchi, M Broide, M Cutkosky, C Creton, and K Autumn "Rate-dependent frictional adhesion in natural and synthetic gecko setae" J. R. Soc. Interface published online before print June 3, 2009, doi:10.1098/rsif.2009.0133

Asbeck, A.; Dastoor, S.; Parness, A.; Fullerton, L.; Esparza, N.; Soto, D.; Heyneman, B.; Cutkosky, M. "Climbing rough vertical surfaces with hierarchical directional adhesion" IEEE ICRA 2009 Page(s):2675 - 2680.

A. Parness, D. Soto, N. Esparza, N. Gravish, M. Wilkinson, K. Autumn, and M. Cutkosky, "A microfabricated wedge-shaped adhesive array displaying gecko-like dynamic adhesion, directionality, and long life-time", J. R. Soc. Interface published online before print March 18, 2009, doi:10.1098/rsif.2009.0048.

D. Soto, A. Parness, N. Esparza, T. Kenny, K. Autumn and M.R. Cutkosky, "Microfabricated Dry Adhesive Displaying Frictional Adhesion," extended abstract for Hilton Head MEMS conference, June 1-5 2008.

D. Santos, B. Heyneman, K. Sangbae, N. Esparza, and M. Cutkosky,"Gecko-inspired climbing behaviors on vertical and overhanging surfaces" Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on 19-23 May 2008 Page(s):1125 - 1131

D. Santos, K. Sangbae, M. Spenko, A. Parness, and M. Cutkosky, "Directional Adhesive Structures for Controlled Climbing on Smooth Vertical Surfaces" Robotics and Automation, 2007 IEEE International Conference on 10-14 April 2007 Page(s):1262 - 1267

D. Santos, M. Spenko, A. Parness, S. Kim and M.R. Cutkosky, "Directional adhesion for climbing: theoretical and practical considerations," Journal of Adhesion Science and Technology, Vol. 21, No. 1213, 2007, p. 1317-1341.

D. Santos, Contact Modeling and Directional Adhesion for Climbing Robots, Ph.D. Thesis, Stanford University, October, 2007.

K. Autumn, A. Dittmore, D. Santos, M. Spenko and M. Cutkosky, "Frictional adhesion: a new angle on gecko attachment," Journal of Experimental Biology, 209, 3569-3579 (2006).

Haptics Publications

• P.B. Shull, K.L. Lurie, M.R. Cutkosky, T.F. Besier, Training Multi-parameter Gaits to Reduce the Knee Adduction Moment with Data-driven Models and Haptic Feedback," Journal of Biomechanics, In Press, 2011

• Y-L Park, S. Eleyaperumal, B. Daniel, S-C Ryu, M. Shin, J. Savall, R.J. Black, B. Moslehi, and M.R. Cutkosky, Real-Time Estimation of Three-Dimensional Needle Shape and Deflection for MRI-Guided Interventions, accepted for publication in IEEE/ASME Transactions on Mechatronics, 2010. DOI: 10.1109/TMECH.2010.2080360

• K. Bark, J. Wheeler, P.B. Shull, J. Savall, M. Cutkosky, Rotational Skin Stretch Feedback: A Wearable Haptic Display for Motion," IEEE Transactions on Haptics, pp. 166-176, July-September, 2010

• P.B. Shull, K.L. Lurie, M. Shin, T. Besier and M.R. Cutkosky, Haptic Gait Retraining for Knee Osteoarthritis Treatment, IEEE Haptics Symposium, pp. 409-416, 2010.

• P.B. Shull, K. Bark, and M.R. Cutkosky, Skin Nonlinearities and their Effect on User Perception for Rotational Skin Stretch , IEEE Haptics Symposium, pp. 77-82, 2010.

• J. Wheeler, K. Bark, J. Savall and M.R. Cutkosky, Investigation of Rotational Skin Stretch for Proprioceptive Feedback with Application to Myoelectric Systems, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.18, no.1, pp.58-66, Feb. 2010 doi: 10.1109/TNSRE.2009.2039602

• Y-L Park, S.C. Ryu, R.J. Black, K. Chau, B. Moslehi and M.R. Cutkosky, Exoskeletal Force Sensing End-Effectors with Embedded Optical Fiber Bragg Grating Sensors, accepted for publication in IEEE Transactions on Robotics (2009).

• L. Jiang, M.R. Cutkosky, J. Ruutiainen and R. Raisamo, Using Haptic Feedback to Improve Grasp Force Control in Multiple Sclerosis Patients, IEEE Transactions on Robotics and Automation, special issue on Rehabilitation Robotics, Vol. 25, No. 3, pp.593-601, June 2009.

• K. Bark, J. Wheeler, G. Lee, J. Savall, M.R. Cutkosky, A Wearable Skin Stretch Device for Haptic Feedback, World Haptics 2009, Salt Lake City, UT, March 2009.

• Y-L. Park, S. Elayaperumal, S. Ryu1, B. Daniel, R. J. Black, B. Moslehi, and M. R. Cutkosky. “MRI-compatible Haptics: Strain sensing for real-time estimation of three dimensional needle deflection in MRI environments.” International Society for Magnetic Resonance in Medicine 17th Scientific Meeting and Exhibition, Honolulu, Hawaii, April 18-24, 2009.

• Y-L. Park, S. Elayaperumal, B.L. Daniel, E. Kaye, K.B. Pauly, R.J. Black, and M.R. Cutkosky, "MRI-compatible Haptics: Feasibility of using optical fiber Bragg grating strain-sensors to detect deflection of needles in an MRI environment", International Society for Magnetic Resonance in Medicine (ISMRM) 2008, 16th Scientific Meeting and Exhibition, Toronto, Canada, May 2008

• Y-L. Park, S.C. Ryu, R.J. Black, B. Moslehi, and M.R. Cutkosky, "Fingertip Force Control with Embedded Fiber Bragg Grating Sensors", IEEE ICRA08, Pasadena, CA, May 2008

• L.Jiang, J. Ruutiainen, M.R. Cutkosky and R. Raisamo,"Improving Finger Force Control with Vibrational Haptic Feedback for Multiple Sclerosis", The IASTED International Conference on Assistive Technologies 08 , Baltimore, Maryland, April 2008

• Bark, K., Wheeler, J., Premakumar, S., Cutkosky, M., %u201CComparison of Skin Stretch and Vibrotactile Stimulation for Feedback of Proprioceptive Information%u201D, IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Reno, NV, March 2008
  • Best Student Paper award

• Mark R. Cutkosky, Robert D. Howe, and William R. Provancher, Force and Tactile Sensors, Handbook of Robotics, Springer Publishing, 2008.

• Y-L Park, K. Chau, R.J. Black, and M.R. Cutkosky, "Force Sensing Smart Robot Fingers using Embedded Fiber Bragg Grating Sensors and Shape Deposition Manufacturing," IEEE ICRA07, Rome, Italy, April 2007.
  • Finalist, Best Manipulation Paper award

Link to older Haptics and Dexterous Manipulation publications

Perching UAV Publications

Alexis Lussier Desbiens, Alan T. Asbeck and Mark R. Cutkosky, "Landing, Perching and Taking Off from Vertical Surfaces," published online before print, International Journal of Robotics Research, Jan. 2011.

Alexis Lussier Desbiens, Alan Asbeck and Mark R. Cutkosky, "Hybrid Aerial and Scansorial Robotics", ICRA, May 2010, Anchorage, Alaska (preprint).

• ICRA2010_HybridAerialScansorialRobotics.pdf
• ICRA_2010.mp4: Video for ICRA 2010 showing an overview of the perching project, including both landings and takeoffs

Alexis Lussier Desbiens, Alan Asbeck and Mark R. Cutkosky, "Scansorial Landing and Perching", Proc. 14th International Symposium on Robotics Research, September 2009, Lucerne, Switzerland.

• (preprint)
• printouts of presentation slides from ISRR 2009

Alexis Lussier Desbiens and Mark Cutkosky, "Landing and Perching on Vertical Surfaces with Microspines for Small Unmanned Air Vehicles (UAVs)," presented at UAV'09, June 8-10, Reno, NV and included in Journal of Intelligent and Robotic Systems, Vol. 57, No. 1-4, p. 313-327 DOI: 10.1007/s10846-009-9377-z

Human-Safe Robot Publications

Sensorized skin Design:

• Ulmen, J., Cutkosky, M. A Robust, Low-Cost and Low-Noise Artificial Skin for Human-Friendly Robots, IEEE ICRA 2010m May 2010.

• D. Shin, I. Sardellitti, Y-L Park, O. Khatib and M.R. Cutkosky, “Design and Control of a Bio-inspired Human-friendly Robot,” International Journal of Robotics Research, Vol. 29, No. 5, 2010, p. 571-584.
• Shin, D., Seitz, F., Khatib, O., and Cutkosky, M.R., "Analysis of Torque Capacities in Hybrid Actuation for Human-Friendly Robot Design," IEEE ICRA 2010, May 2010.
• Shin, D., Khatib, O., Cutkosky, M. Design Methodologies of the Hybrid Actuation Approach for Human-Friendly Robot, IEEE ICRA 2009. Submitted. Final version will be posted after reviews.
• Shin, D., et al. Design and Control of a Bio-Inspired human-Friendly Robot, International Journal of Robotics Research. (This is the extended version of ISER08. Submitted. Final version will be posted after reviews.
• Shin, D., et al. Design and Control of a Bio-Inspired human-Friendly Robot, International Symposium of Experimental Robotics 2008(ISER08).
• Shin, D., Sardellitti, I. and Khatib, O., A Hybrid Actuation Approach for Human-Friendly Robot Design, IEEE ICRA 2008.