Harvard Microrobotics LaboratoryHomeResearchPublicationsPeopleMediaOpportunitiesOutreachInternal
Publications

2014

Estimating Surgical Needle Deflection with Printed Strain Gauges, F.L. Hammond III, M. Smith, and R.J. Wood, to appear: IEEE EMBS Engineering in Medicine and Biology Conf., Chicago, IL, Aug. 2014.

Soft Sensor Suit for Wearable Leg Motion Tracking, Y. Menguc, Y.-L. Park, H. Pei, D. Vogt, P. Aubin, E. Winchell, L. Fluke, L. Stirling, R.J. Wood, and C.J. Walsh, to appear: Int. J. of Robotics Research, 2014.

Embedded 3D Printing of Monolithic, Highly Stretchable Sensors, J.T. Muth, D.M. Vogt, R.L. Truby, Y. Menguc, D.B. Kolesky, R.J. Wood, and J.A. Lewis, to appear: Advanced Materials, 2014.

Dipteran-Insect Inspired Thoracic Mechanism with Non-Linear Stiffness to Save Inertial Power of Flapping-Wing Flight, G.-K. Lau, Y.-W. Chin, J.T.-W. Goh, and R.J. Wood, to appear: IEEE Trans. Robotics, 2014.

Principles of Microscale Flexure Hinge Design for Enhanced Endurancet, R. Malka, A.L. Desbiens, Y. Chen, and R.J. Wood, to appear: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Chicago, IL, Sept. 2014.

An Untethered Jumping Soft Robot, M.T. Tolley, R.F. Shepherd, M. Karpelson, N.W. Bartlett, R. Nunes, K.C. Galloway, M. Wehner, G.M. Whitesides, and R.J. Wood, to appear: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Chicago, IL, Sept. 2014.

High-throughput study of flapping wing aerodynamics for biological and robotic applications, N. Gravish, Y. Chen, S. Combes, and R.J. Wood, to appear: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Chicago, IL, Sept. 2014.

Toward a Modular Soft Sensor-Embedded Data Glove for Human Hand Motion and Tactile Pressure Measurement, F.L. Hammond III, Y. Menguc, and R.J. Wood, to appear: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Chicago, IL, Sept. 2014.

Fly on the wall, P. Chirarattananon, K.Y. Ma, and R.J. Wood, to appear: IEEE Int. Conf. on Biomedical Robotics and Biomechatronics, Sao Paulo, Brazil, Aug. 2014.

A Bioinspired Approach to Torque Control in an Insect-sized Flapping-wing Robot, Z.E. Teoh and R.J. Wood, to appear: IEEE Int. Conf. on Biomedical Robotics and Biomechatronics, Sao Paulo, Brazil, Aug. 2014.

Adaptive Control of a Millimeter-Scale Flapping-Wing Robot, P. Chirarattananon, K. Ma, and R.J. Wood, Bioinspiration & Biomimetics, vol. 9, no. 2, 025004, 2014.

The Challenge of Manufacturing Between Macro and Micro, R.J. Wood, American Scientist, pp. 124-131, March-April, 2014.

Single-Loop Control and Trajectory Following of a Flapping-Wing Microrobot,, P. Chirarattananon, K. Ma, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

A Soft Wearable Robotic Device for Active Knee Motions through Development of Compact Flat Pneumatic Artificial Muscles,, Y.-L. Park, J. Santos, K. Galloway, E. Goldfield, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

A Monolithic Approach to Fabricating Low-Cost, Millimeter-Scale Multi-Axis Force Sensors for Minimally-Invasive Surgery, J. Gafford, S.B. Kesner, A. Degirmenci, R.J. Wood, R.D. Howe, and C.J. Walsh, IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

An End-to-End Approach to Making Self-Folded 3D Surface Shapes by Uniform Heating, B. An, S. Miyashita, M.T. Tolley, D.M. Aukes, L. Meeker, E.D. Demaine, M.L. Demaine, R.J. Wood and D. Rus, IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

Planar Fabrication of a Mesoscale Voice Coil Actuator, B. Goldberg, M. Karpelson, O. Ozcan, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

A Wirelessly Powered, Biologically Inspired Ambulatory Microrobot, M. Karpelson, B. Waters, B. Goldberg, B. Mahoney, O. Ozcan, A. Baisch, P.-M. Meyitang, J.R. Smith, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

A Passive, Origami-Inspired, Continuously Variable Transmission, S. Felton, D.-Y. Lee, K.-J. Cho, and R.J. Wood, to appear: IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.
Finalist: Best paper

Self-assembling Sensors for Printable Machines, B. Shin, S. Felton, M.T. Tolley, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

Powertrain Selection for a Biologically-Inspired Miniature Quadruped Robot, O. Ozcan, A. Baisch, D. Ithier, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

Pitch and Yaw Control of a Robotic Insect using an Onboard Magnetometer, E.F. Helbling, S. Fuller, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

A computational tool to improve flapping efficiency of robotic insects, Y. Chen and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

Simple Passive Valves for Addressable Pneumatic Actuation, N. Nap, B. Araki, M.T. Tolley, R. Nagpal, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Hong Kong, CN, May 2014.

Soft Tactile Sensor Arrays for Force Feedback in Micromanipulation, F.L. Hammond, R.K. Kramer, Q. Wan, R.D. Howe, and R.J. Wood, to appear: IEEE Sensors Journal, 2014.

High Speed Locomotion for a Quadrupedal Microrobot, A.T. Baisch, O. Ozcan, B. Goldberg, D. Ithier, and R.J. Wood, to appear: Int. J. of Robotics Research, 2014.

Design and control of a bio-inspired active soft orthotic device for treating ankle-foot pathologies, Y.-L. Park, B.-R. Chen, N.O. Perez-Arancibia, D. Young, L. Stirling, R.J. Wood, E.C. Goldfield, and R. Nagpal, to appear: Bioinspiration & Biomimetics, 2014.

2013

Effect of Microtextured Surface Topography on the Wetting Behavior of Eutectic Gallium-Indium Alloys, R.K. Kramer, J.W. Boley, H.A. Stone, J.C. Weaver, and R.J. Wood, Langmuir, vol. 30, no. 2, pp. 533-539, 2013.

Monolithic Integration of Nanoscale Solid Oxide Fuel Cell Membranes onto Polymer Scaffolds through Stress Control, K. Kerman, Q. Van Overmeere, M. Karpelson, R.J. Wood, and S. Ramanathan, ACS Nano, vol. 7, no. 12, pp. 10895-10903, 2013.

Smaller, softer, safer robots, R.J. Wood and C.J. Walsh, Science Translational Medicine (invited editorial), vol. 5, 2013.

Influence of Surface Traction on Soft Robot Undulation, C. Majidi, R.F. Shepherd, R.K. Kramer, G.M. Whitesides, and R.J. Wood, Int. J. Robotics Research, vol. 32, issue 13, pp. 1577-1584, 2013.

Dexterous High-Precision Robotic Wrist for Micromanipulation, F.L. Hammond III, R.D. Howe, and R.J. Wood, Int. Conf. on Advanced Robotics, Montevideo, Uruguay, Nov. 2013.

Flexible, Stretchable Tactile Arrays From MEMS Barometers, L.P. Jentoft, Y. Tenzer, D. Vogt, J. Liu, R.J. Wood, and R.D. Howe, Int. Conf. on Advanced Robotics, Montevideo, Uruguay, Nov. 2013.

Mechanically Programmable Bend Radius for Fiber-Reinforced Soft Actuators, K. Galloway, P. Polygerinos, C. Walsh, and R.J. Wood, Int. Conf. on Advanced Robotics, Montevideo, Uruguay, Nov. 2013.

Model-Free Control of a Flapping-Wing Flying Microrobot, N. Perez-Arancibia, P.-E. Duhamel, K. Ma, and R.J. Wood, Int. Conf. on Advanced Robotics, Montevideo, Uruguay, Nov. 2013.
Winner: Best paper

Self-folding with shape memory composites, S.M. Felton, M.T. Tolley, B.-H. Shin, C.D. Onal, D. Rus, E.D. Demaine, and R.J. Wood, Soft Matter, vol. 9, no. 32, pp. 7659-7878, 2013.
Cover article

Meshworm: A peristaltic soft robot with antagonistic nickel titanium coil actuators, S. Seok, C.D. Onal, R.J. Wood, D. Rus, and S. Kim, IEEE Trans. Mechatronics, vol. 18, issue 5, pp. 1485-1497, 2013.

Design and Characterization of A Soft Multi-Axis Force Sensor Using Embedded Microfluidic Channels, D. Vogt, Y.-L. Park, and R.J. Wood, IEEE Sensors, vol. 13, no. 10, pp. 4056-4064, 2013.

A Soft Strain Sensor based on Ionic and Metal Liquids, J.-B. Chossat, Y.-L. Park, R.J. Wood, and V. Duchaine, IEEE Sensors, vol. 13, no. 9, pp. 3405-3414, 2013.

Masked Deposition of Gallium-Indium Alloys for Liquid-Embedded Elastomer Electronics, R.K. Kramer, C. Majidi, and R.J. Wood, Advanced Functional Materials, vol. 23, issue 42, pp. 5292-5296, 2013.

A pendulum in a flowing soap film, M.M. Bandi, A. Concha, R.J. Wood, L. Mahadevan, Physics of Fluids, vol. 25, 041702, 2013.

A wing characterization method for flapping-wing robotic insects, A.L. Desbiens, Y. Chen, and R.J. Wood, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, Nov., 2013.

A Jumping Robotic Insect Based on a Torque Reversal Catapult Mechanism, J.-S Koh, S.-P. Jung, R.J. Wood, and K-J. Cho, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, Nov., 2013.

Design and Feedback Control of a Biologically-Inspired Miniature Quadruped, O. Ozcan, A.T. Baisch, and R.J. Wood, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, Nov., 2013.

Self-Folding Shape Memory Laminates for Automated Fabrication, M.T. Tolley, S.M. Felton, S. Miyashita, L. Xu, B. Shin, M. Zhou, D. Rus, and R.J. Wood, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, Nov., 2013.

Pop-up Assembly of a Quadrupedal Ambulatory MicroRobot, A.T. Baisch and R.J. Wood, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, Nov., 2013.

Adaptive Control for Takeoff, Hovering, and Landing of a Robotic Fly, P. Chirarattananon, K.Y. Ma, and R.J. Wood, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, Nov., 2013.

Force-Sensing Surgical Grasper Enabled by Pop-Up Book MEMS, J. Gafford, S.B. Kesner, R.J. Wood, and C.J. Walsh, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, Nov., 2013.

Robustness of centipede-inspired millirobot locomotion to leg failures, K. Hoffman and R.J. Wood, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, Nov., 2013.

Microsurgical Devices by Pop-Up Book MEMS, J.B. Gafford, S.B. Kesner, R.J. Wood, and C.J. Walsh, ASME Int. Design Engineering Tech. Conf., Portland, Oregon, 2013.

Controlled Flight of a Biologically Inspired, Insect-Scale Robot, K. Ma, P. Chirarattanon, S. Fuller, and R.J. Wood, Science, vol. 340, pp. 603-607, 2013.

An Origami-Inspired Approach to Worm Robots, C.D. Onal, R.J. Wood, and D. Rus, IEEE/ASME Trans. Mechatronics, vol. 18, issue 2, pp. 430-438, 2013.

Soft Wearable Motion Sensing Suit for Lower Limb Biomechanics Measurements, Y. Menguc, Y.-L. Park, E. Martinez-Villalpando, P. Aubin, M. Zisook, L. Stirling, R.J. Wood, and C.J. Walsh, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, May, 2013.

A Lightweight Soft Exosuit for Gait Assistance, M. Wehner, B. Quinlivan, P.M. Aubin, E. Martinez-Villalpando, M. Bauman, L. Stirling, K. Holt, R.J. Wood, and C. Walsh, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, May, 2013.

Simultaneous Soft Sensing of Tissue Contact Angle and Force for Millimeter-scale Medical Robots, V. Arabagi, A. Gosline, R.J. Wood, and P.E. Dupont, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, May, 2013.

Estimating attitude and wind velocity using biomimetic sensors on a microrobotic bee, S.B. Fuller, A. Sands, A. Haggerty, M. Karpelson, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, May, 2013.

A Flapping-Wing Microrobot with a Differential Angle-of-Attack Mechanism, Z.E. Teoh and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, May, 2013.

Identification of Flight Aerodynamics for Flapping-Wing Microrobots, P. Chirarattananon and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, May, 2013.

Robot Self-Assembly by Folding: A Printed Inchworm Robot, S.M. Felton, M.T. Tolley, C.D. Onal, D. Rus, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Karlsruhe, Germany, May, 2013.

Flight of the RoboBees, R.J. Wood, R. Nagpal, and G.-Y. Wei, Scientific American, Mar., 2013.

Elastic Element Integration for Improved Flapping-wing Micro Air Vehicle Performance, R. Sahai, K. C. Galloway, and R.J. Wood, IEEE Trans. on Robotics, vol. 29, no. 1, pp. 32-42, 2013.

Biologically Inspired Optical Flow Sensing for Altitude Control of Flapping-Wing Microrobots, P.-E. Duhamel, N.O. Perez-Arancibia, G. Barrows, and R.J. Wood, IEEE/ASME Trans. Mechatronics, vol. 18, issue 2, pp. 556-568, 2013.

Measurement System for the Characterization of Micromanipulation Motion and Force, F. Hammond III, S. Talbot, R. Howe, and R.J. Wood, Design of Medical Devices Conference (extended abstract), Minneapolis, Minnesota, USA, 2013.

2012

Microstructured Barbs on the North American Porcupine Quill Enable Easy Tissue Penetration and Difficult Removal, W.K. Cho, J.A. Ankrum, D. Guo, S.A. Chester, S.Y. Yang, A. Kashyap, G.A. Campbell, R.J. Wood, R.K. Rijal, R. Karnik, R. Langer, and J.M. Karp, Proc. Nat. Acad. Sci., vol. 109, no. 52, 21289-21294, 2012.

Driving high voltage piezoelectric actuators in microrobotic applications, M. Karpelson, G.-Y. Wei, and R.J. Wood, J. Sensors and Actuators A: Physical, vol. 176, pp. 78-89, 2012.

Bio-Inspired Design of Soft Robotic Assistive Devices: The Interface of Physics, Biology, and Behavior, E.C. Goldfield, Y.-L. Park, B.-R. Chen, W.-H. Hsu, A. Wessendorf, D. Young, M. Wehner, D. Stephen, L. Stirling, D. Newman, R. Nagpal, E. Saltzman, K.G. Holt, C. Walsh, and R.J. Wood, Ecological Psychology, vol. 24, no. 4, 2012.

Influence of Cross-Sectional Geometry on the Sensitivity and Hysteresis of Liquid-Phase Electronic Pressure Sensors, Y.-L. Park, D. Tepayotl-Ramirez, R.J. Wood, and C. Majidi, Applied Physics Letters, vol.101, no. 19, 2012.

A Soft Multi-Axis Force Sensor, D. Vogt, Y.-L. Park, and R.J. Wood, IEEE Sensors Conf., Taipei, Taiwan, Oct., 2012.

A Hovering Flapping-Wing Microrobot with Altitude Control and Passive Upright Stability, Z.E. Teoh, S.B. Fuller, P. Chirarattananon, N.O. Perez-Arancibia, J. D. Greenberg, and R.J. Wood, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, Sep., 2012.

Soft Tactile Sensor Arrays for Micromanipulation, F.L. Hammond III, R.K. Kramer, Q. Wan, R.D. Howe, and R.J. Wood, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, Sep., 2012.

Modular Active Elastomer Sleeve for Adaptive Soft Orthotics, Y.-L. Park, B. Chen, C. Majidi, R.J. Wood, R. Nagpal, E. Goldfield, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, Sep., 2012.

Aerodynamic evaluation of four butterfly species for the design of flapping-gliding robotic insects, M. Kovac, D. Vogt, D. Ithier, M. Smith, and R.J. Wood, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, Sep., 2012.

Open-loop roll, pitch and yaw torques for a robotic bee, B.M. Finio and R.J. Wood, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, Sep., 2012.

Design, Fabrication, and Modeling of the Split Actuator Microrobotic Bee, K.Y. Ma, S.M. Felton, and R.J. Wood, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, Sep., 2012.

A Flapping-Wing Micro Air Vehicle with Interchangeable Parts for Optimization Studies, R. Sahai, K.C. Galloway, M. Karpelson, and R.J. Wood, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, Sep., 2012.

Progress on "pico" air vehicles, R.J. Wood, B. Finio, M. Karpelson, K. Ma, N.O. Perez-Arancibia, P.S. Sreetharan, H. Tanaka, and J.P. Whitney, Int. J. Robotics Research, vol. 31, no. 11, pp. 1292-1302, 2012.

A bidirectional shape memory alloy folding actuator, J. Paik and R.J. Wood, Smart Materials and Structures, vol. 21, no. 065013, 2012.

Multi stage micro rockets for robotic insects, M. Kovac, M. Smith, M. Bendana, and R.J. Wood, Robotics: Science and Systems, Sydney, Australia, July, 2012.

Turning gaits and optimal undulatory gaits for a modular centipede-inspired millirobot, K. Hoffman and R.J. Wood, IEEE Int. Conf. on Biomedical Robotics and Biomechatronics, Rome, Italy, June, 2012.
Winner: Best student paper award

Experimental Characterization of Components for Active Soft Orthotics, M. Wehner, Y.-L. Park, T. Moore, C. Walsh, R. Nagpal, E. Goldfield, and R.J. Wood, IEEE Int. Conf. on Biomedical Robotics and Biomechatronics, Rome, Italy, June, 2012.

Design and Fabrication of Soft Artificial Skin Using Embedded Microchannels and Liquid Conductors, Y.-L. Park, B.-R. Chen, and R.J. Wood, IEEE Sensors, vol. 12, no. 8, pp. 2711-2718, 2012.
Cover article, Winner: Best paper of 2012

Data-Driven Design of a Dexterous Robotic Microsurgery System, F. Hammond III, S. Talbot, R.J. Wood, and R. Howe, Design of Medical Devices Conference (extended abstract), Minneapolis, Minnesota, USA, 2012.

Conceptual design of flapping-wing micro air vehicles, J.P. Whitney and R.J. Wood, Bioinspiration and Biomimetics, vol. 7, no. 036001, 2012.
Highlighted article of 2012

Monolithic fabrication of millimeter-scale machines, P. Sreetharan, J. P. Whitney, M. Strauss, and R. J. Wood, J. Micromech. Microeng., vol. 22, no. 055027, 2012.
Cover article, IOP select article

Wing Trajectory Control for Flapping-Wing Microrobots Using Combined Repetitive and Minimum-Variance Adaptive Methods, P. Chirarattananon, N.O. Perez-Arancibia, and R.J. Wood, American Controls Conf., Montreal, Canada, June, 2012.

Altitude Feedback Control of a Flapping-Wing Microrobot Using an On-Board Biologically Inspired Optical Flow Sensor, P.-E.J. Duhamel, N.O. Perez-Arancibia, G.L. Barrows, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Saint Paul, Minnesota, May. 2012.

2011

Pitch-Angle Feedback Control of a Biologically Inspired Flapping-Wing Microrobot, N.O. Perez-Arancibia, P. Chirarattananon, B.M. Finio, and R.J. Wood, IEEE Int. Conf. on Robotics and Biomimetics, Phuket Island, Thailand, Dec. 2011.

Pop-up book MEMS, J.P. Whitney, P.S. Sreetharan, K. Ma, and R.J. Wood, J. Micromech. Microeng., vol. 21, no. 11, 115021, 2011.
Cover article, IOP select article

First Controlled Vertical Flight of a Biologically Inspired Microrobot, N.O. Perez-Arancibia, K. Ma, K. Galloway, J. Greenberg, and R.J. Wood, Bioinspiration & Biomimetics, vol. 6, 036009, 2011.
Highlighted article of 2011

Non-Differential Elastomer Curvature Sensors for Softer-than-Skin Electronics, C. Majidi, R. Kramer, and R.J. Wood, J. Smart Materials and Structures, vol. 20, 105017, 2011.

Lift Force Control of Flapping-Wing Microrobots Using Adaptive Feedforward Cancelation Schemes, N.O. Perez-Arancibia, J.P. Whitney, and R.J. Wood, to appear: IEEE Trans. Mechatronics, 2011.

Insect Flight and Micro Air Vehicles, H. Tanaka, B.M. Finio, M. Karpelson, N. Perez-Arancibia, P.S. Sreetharan, J.P. Whitney, and R.J. Wood, to appear: Encyclopedia of Nanotechnology, B. Bhushan (ed). Springer-Verlag, 2011.

Progress on "pico" air vehicles, R.J. Wood, B. Finio, M. Karpelson, K. Ma, N.O. Perez-Arancibia, P.S. Sreetharan, H. Tanaka, and J.P. Whitney, Int. Symp. on Robotics Research (invited paper), Flagstaff, Az, Aug. 2011.

Robotic origamis: self-morphing modular robots, J. Paik, B. An, D. Rus, and R.J. Wood, Proc. 2nd Int. Conf. on Morphological Computation, Venice, Italy, Sept., 2011.

Soft Artificial Skin with Multi-Modal Sensing Capability Using Embedded Liquid Conductors, Y.-L. Park, B.-R. Chen, and R.J. Wood, IEEE Sensors Conference, Limerick, Ireland, Oct. 2011.

Optimal energy density piezoelectric twisting actuators, B. Finio and R.J. Wood, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, San Francisco, CA, Sept. 2011.

An ultra-high precision, high bandwidth torque sensor for microrobotics applications, B. Finio, K. Galloway, and R.J. Wood, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, San Francisco, CA, Sept. 2011.

System identification, modeling, and optimization of an insect-sized flapping-wing micro air vehicle, B. Finio, N.O. Perez-Arancibia, and R.J. Wood, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, San Francisco, CA, Sept. 2011.

Effect of Sensor and Actuator Quality on Robot Swarm Algorithm Performance, N. Hoff, R.J. Wood, and R. Nagpal, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, San Francisco, CA, Sept. 2011.

Passive undulatory gaits enhance walking in a myriapod millirobot, K. Hoffman and R.J. Wood, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, San Francisco, CA, Sept. 2011.

Soft Curvature Sensors for Joint Angle Proprioception, R. Kramer, C. Majidi, R. Sahai, and R.J. Wood, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, San Francisco, CA, Sept. 2011.

Stretchable Circuits and Sensors for Robotic Origami, J. Paik, R. Kramer, and R.J. Wood, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, San Francisco, CA, Sept. 2011.

Bio-inspired Active Soft Orthotic Device for Ankle Foot Pathologies, Y.-L. Park, B.-R. Chen, D. Young, L.A. Stirling, R.J. Wood, E. Goldfield, and R. Nagpal, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, San Francisco, CA, Sept. 2011.

HAMR3: An Autonomous 1.7g Ambulatory Robot, A. Baisch, C. Heimlich, M. Karpelson, and R.J. Wood, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, San Francisco, CA, Sept. 2011.

Hardware in the Loop for Optical Flow Sensing in a Robotic Bee, P.-E. Duhamel, J. Porter, B.M. Finio, G. Barrows, D. Brooks, G.-Y. Wei, and R.J. Wood, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, San Francisco, CA, Sept. 2011.

Effect of flexural and torsional wing flexibility on lift generation in hoverfly flight, H. Tanaka, J.P. Whitney, and R.J. Wood, J. Integrative & Comparative Bio. 2011.

Design and Fabrication of Ultralight High-Voltage Power Circuits for Flapping-Wing Robotic Insects, M. Karpelson, J.P. Whitney, G.-Y. Wei, and R.J. Wood, Applied Power Electronics Conf., Fort Worth, TX, March 2011.

Low Power Control IC for Efficient High-Voltage Piezoelectric Driving in a Flying Robotic Insect, M. Karpelson, R.J. Wood, and G.-Y. Wei, Symp. on VLSI Circuits, Kyoto, Japan, 2011.

Myriapod-like ambulation of a segmented microrobot, K. Hoffman and R.J. Wood, J. Autonomous Robots, vol. 31, no. 1, pp. 103-114, 2011..

Passive torque regulation in an underactuated flapping wing robotic insect, P.S. Sreetharan and R.J. Wood, J. Autonomous Robots, vol. 31, no. 2, 225-234, 2011.

Lift Force Control of a Flapping-Wing Microrobot, N.O. Perez-Arancibia, J. Whitney, and R.J. Wood, American Controls Conf., San Francisco, CA, June 2011.

Mechanics and Actuation for Flapping-Wing Robotic Insects, R.J. Wood, J.P. Whitney, and B.M. Finio, in: Encyclopedia of Aerospace Engineering, R. Blockley and W. Shyy (eds). John Wiley & Sons Ltd, Chichester, UK, pp 4393-4406, 2011.

Wearable Tactile Keypad with Stretchable Artificial Skin, R. Kramer, C. Majidi, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011.

Towards Printable Robotics: Origami-Inspired Planar Fabrication of Three-Dimensional Mechanisms, C.D. Onal, R.J. Wood, and D. Rus, IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011.

Design of Centimeter-Scale Inchworm Robots with Bidirectional Claws, D. Lee, S. Kim, Y.-L. Park, and R.J. Wood, IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011.

2010

A Novel Low-Profile Shape Memory Alloy Torsional Actuator, J. Paik, E. Hawkes, and R.J. Wood, Smart Materials and Structures, vol. 19, no. 125014, 2010.

Hyperelastic pressure sensing with a liquid-embedded elastomer, Y.-L. Park, C. Majidi, R. Kramer, P. Berard, and R.J. Wood, J. Micromech. Microeng., vol 20, issue 125029, 2010.

Two Foraging Algorithms for Robot Swarms Using Only Local Communication, N.R. Hoff, A. Sagoff, R.J. Wood, and R. Nagpal, IEEE Int. Conf. on Robotics and Biomimetics, Tianjin, China, Dec. 2010.

Tunable elastic stiffness with micro-confined magnetorheological domains at low magnetic field, C. Majidi and R.J. Wood, Applied Physics Letters, vol. 97, issue 16, 2010.

Distributed colony-level algorithm switching for robot swarm foraging, N. Hoff, R.J. Wood, and R. Nagpal, 10th Int. Symp. on Distributed Autonomous Robotics Systems, 2010.

Distributed power and control actuation in the thoracic mechanics of a robotic insect, B.M. Finio and R.J. Wood, Bioinspir. Biomim. 5, 045006, 2010.

Composable Flexible Small Actuators Built from Thin Shape Memory Alloy Sheets, E. Torres-Jara, K. Gilpin, J. Karges, R.J. Wood and D. Rus, IEEE Robotics and Automation Mag. vol. 17, no. 4, pp. 78-87, 2010.

Aeromechanics of passive rotation in flapping flight, J. Whitney and R.J. Wood, J. Fluid Mechanics, 660, pp. 197-220, 2010.

Shear-Mode Contact Splitting for a Microtextured Elastomer Film, R.K. Kramer, C. Majidi, and R.J. Wood, Adv. Mat., online June, 2010.

Programmable matter by folding, E. Hawkes, B. An, N. Benbernou, H. Tanaka, S. Kim, E.D. Demaine, D. Rus, and R.J. Wood, Proc. Nat. Acad. Sci., 107 (28), pp. 12441-12445, 2010.

Passive aerodynamic drag balancing in a flapping wing microrobotic insect, P.S. Sreetharan and R.J. Wood, J. Mechanical Design, 132 (5), pp. 051006-051016, 2010.

Fabrication of corrugated artificial insect wings using laser micromachined molds, H. Tanaka and R.J. Wood, J. Micromechanics and Microengineering, 20:7, 2010.

Stroke plane deviation for a microrobotic fly, B. Finio, J.P. Whitney, and R.J. Wood, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Taipei Taiwan, October 2010.

Fabrication and analysis of dielectric-elastomer minimum-energy structures for highly-deformable soft robotic systems, M.T. Petralia and R.J. Wood, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Taipei Taiwan, October 2010.

Energetics of flapping-wing robotic insects: towards autonomous hovering flight, M. Karpelson, J.P. Whitney, G.-Y. Wei, and R.J. Wood, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Taipei Taiwan, October 2010.

Biologically inspired locomotion of an insect scale hexapod robot, A. Baisch, P. Sreetharan, and R.J. Wood, IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Taipei Taiwan, October 2010.

Passive torque regulation in an underactuated flapping wing robotic insect, P.S. Sreetharan and R.J. Wood, Robotics: Science and Systems, Zaragoza, Spain, June 2010.
Winner: Best student paper award

Applicability of shape memory allow wire for an active, soft orthotic, L. Stirling, C.-H. Yu, J. Miller, R.J. Wood, E. Goldfield, and R. Nagpal, Proc. Int. Conf. Shape Memory and Superelastic Technologies, pp. 20-21, Pacific Grove, CA, May 2010.

Towards a multi-segment ambulatory microrobot, K. Hoffman and R.J.~Wood, IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, May, 2010.

Peristaltic locomotion with antagonistic actuators in soft robotics, S.-O. Seok, C. Onal, R.J. Wood, D. Rus, and S. Kim, IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, May, 2010.

2009

Challenges for 100 Milligram Flapping Flight R.S. Fearing and R.J. Wood, in: 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 artificial muscle fiber 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, J. Smart Materials and Structures, 18, 125002, 2009.
Featured article

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.
Cover article, highlighted article of 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.

Self-organizing modular robots for collective actuation, C.-H. Yu, R. Nagpal, R.J. Wood, and L. Sterling, Proc. 15th Int. Conf. Precision Perception and Action, Minneapolis, MN, July 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)
Cover article

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.

Harvard | SEAS | Wyss Institute | Privacy Policy | Site Map | Contact
Copyright © 2014 Harvard Microrobotics Laboratory

s