Publications

2009

Challenges for 100 Milligram Flapping Flight R.S. Fearing and R.J. Wood, to appear: Flying Insects and Robots, edited by D. Floreano, J.-C. Zufferey, M. Srinivasan, C. Ellington, Springer Verlag, 2009.

Asymmetric flapping for a robotic fly using a hybrid power-control actuator, B. Finio, B. Eum, C. Oland, and R.J. Wood, IEEE/RSJ IROS, St. Louis, MO, Oct., 2009.

Micro articial muscle ber using NiTi spring for soft robotics S. Kim, E. Hawkes, K.-J. Cho, M. Jolda, J. Foley, and R.J. Wood, IEEE/RSJ IROS, St. Louis, MO, Oct., 2009.

A Novel Multi-Axis Force Sensor for Microrobotics Applications R.J. Wood, K.-J. Cho, and K. Hoffman, to appear: J. Smart Materials and Structures, 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 7318, April, 2009.

Design and Fabrication of the Harvard Ambulatory Microrobot A.T. Baisch and R.J. Wood 14th Int. Symp. of Robotics Research, Lucerne, Switzerland, Sept 2009.

Artificial insect wings of diverse morphology for flapping-wing MAVs J.K. Shang, S.A. Combes, B.M. Finio, and R.J. Wood, Bioinspir. Biomim. 4, 036002, 2009.

Milligram-scale high-voltage power electronics for piezoelectric microrobots M. Karpelson, G.-Y. Wei, and R.J. Wood, IEEE ICRA, Kobe, Japan, May 2009.

Body torque modulation for a microrobotic fly, B.M. Finio, J.K. Shang, and R.J. Wood, IEEE ICRA, Kobe, Japan, May 2009.

Using Bayesian Inference to Learn High-Level Tasks from a Human Teacher M.P. Woodward and R.J. Wood, Int. Conf. on Artificial Intelligence and Pattern Recognition, Orlando, FL, July 2009.

2008

Robotic Manipulation Using an Open-Architecture Industrial Arm: A Pedagogical Overview R.J. Wood, IEEE Robotics and Automation Magazine, vol. 15, no. 3, Sep. 2008

Fly, Robot Fly R.J. Wood, IEEE Spectrum, March, 2008. (invited)

Microrobot Design Using Fiber Reinforced Composites R.J. Wood, S. Avadhanula, R. Sahai, and R.S. Fearing, J. of Mechanical Design, vol. 130, no. 5, May, 2008.

The first takeoff of a biologically-inspired at-scale robotic insect R.J. Wood, IEEE Trans. on Robotics, Vol. 24, No. 2, pp. 341-347, April, 2008.

A Review of Actuation and Power Electronics Options for Flapping-Wing Robotic Insects, M. Karpelson, G-Y. Wei, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Pasadena, CA, May, 2008.

Design, fabrication and analysis of a body-caudal fin propulsion system for a microrobotic fish, K. Cho, E. Hawkes, C. Quinn, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Pasadena, CA, May, 2008.

2007

Design, fabrication, and analysis, of a 3DOF, 3cm flapping-wing MAV, R.J. Wood, IEEE/RSJ IROS, San Diego, CA, October, 2007.
Winner: Best paper award

Liftoff of a 60mg flapping-wing MAV, R.J. Wood, IEEE/RSJ IROS, San Diego, CA, October, 2007.

The first flight of an insect-sized robotic fly, R.J. Wood, IEEE/RSJ IROS, San Diego, CA, October, 2007 (video proceedings).
Winner: Best video award

Enabling Technologies and Subsystem Integration for an Autonomous Palm-Sized Glider, 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. 14, No. 2, pp. 82-91, June 2007

2006

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

2005

Optimal Energy Density Piezoelectric Bending Actuators, R.J. Wood, E. Steltz, and R.S. Fearing, J. of Sensors and Actuators A: Physical, Vol. 119, No. 2, pp. 476-488, 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, IEEE Industrial Electronics Society, Raleigh, NC, Nov. 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, Spain, April 2005.

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

2003

Lift Force Improvements for the Micromechanical Flying Insect, S. Avadhanula, R.J. Wood, E. Steltz, J Yan, R.S. Fearing, IEEE/RSJ IROS 2003, Las Vegas, Nevada, Oct. 2003.

Microrobotics Using Composite Materials: The Micromechanical Flying Insect Thorax, R.J. Wood, S. Avadhanula, M. Menon, R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, May 2003.

Biomimetic Sensor Suite for Flight Control of a Micromechanical Flying Insect: Design and Experimental Results, W.C. Wu, L. Schenato, R.J. Wood, R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, May 2003.

2002

A Micromechanical Flying Insect Thorax, R.S. Fearing, S. Avadhanula, D. Campolo, M. Sitti, J. Yan, and R. Wood, In “Neurotechnology for Biomimetic Robots”, J. Ayers, J.L. Davis, and A. Rudolph. The MIT Press, 2002, Cambridge, Massachusetts, pages 469-480.

The Micromechanical Flying Insect, J. Yan, S. Avadhanula, J. Birch, M. Dickinson, M. Menon, E. Park, T. Sands, S. Sane, M. Sitti, T. Su, R. Wood, and R. Fearing, Video presentation: IEEE Int. Conf. on Robotics and Automation, Washington, DC May 11-15, 2002.
Winner: Best video award

2001

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.

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

Thorax Design and Wing Control for a Micromechanical Flying Insect, J. Yan, S. Avadhanula, M. Sitti, R.J. Wood, and R.S. Fearing, Proc. of the 39th Annual Allerton Conf. on Communication, Control, and Computing (invited paper), Monticello, IL, Oct 3-5, 2001.

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

2000

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., Nov. 5-10, 2000.