See Main publications page for additional publications related to adhesion, haptics, tactile sensing, etc.

BDML RiSE 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.)

BDML RiSE Presentations

• 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.

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?)