• BDML RiSE Publications
• BDML RiSE Presentations

BDML RiSE Publications

Lanzetta M., Cutkosky M.R., Shape deposition manufacturing of biologically inspired hierarchical microstructures, to appear in CIRP Annals (2008), doi:10.1016/j.cirp.2008.03.102

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

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.

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," to appear in the Journal of Field Robotics, 2008.

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)

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. 12, p. 1317-1341.

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.

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) -- Describes the directional characteristics of gecko adhesion and compares with the directional adhesion obtained in early versions of the StickyBot patches.

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.)

BDML RiSE Presentations

(Partial list - contact MarkCutkosky for more)

• R.J. Full and M.R. Cutkosky, "From Bio-Inspiration to Robotic Implementation," joint presentation at IEEE ICRA07 Workshop [SF-1] on Biomimetic Robotics. Saturday, 14 April, 2007, Rome, Italy.
  • Workshop announcement and IEEE ICRA workshops summary
  • Full slides (PDF), Cutkosky slides (PDF)
  • Videos (Quicktime): iSprawl, Spinybot, Stickybot.
• M.R. Cutkosky, "The Challenges of Utilizing Directional Adhesive Structures,"; Robotic Science and Systems Workshop on Challenges of Micro- and Nano-robotics, U. Pennsylvania, August 19, 2006.
• AnisotropicStructuresMeeting, 20 April 2006.

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Older related publications listed under the Biomimetics Site

-- AMcClung - 16 Aug 2005

• J-Clark-Thesis_ver3.pdf: Jonathan E. Clark Ph.D. thesis (final draft?)

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