Stress-driven mems assembly+ electrostatic forces= 1mm diameter robot

@article{karagozler-TCCS12,
  author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
     Ricketts, David S.},
  journal = {Circuits and Systems I: Regular Papers, IEEE Transactions
     on},
  title = {Analysis and Modeling of Capacitive Power Transfer in
     Microsystems},
  year = {2012},
  month = {July},
  volume = {59},
  number = {7},
  pages = {1557 -1566},
  keywords = {Actuation, Adhesion,Power},
  doi = {10.1109/TCSI.2011.2177011},
  issn = {1549-8328},
}

@inproceedings{karagozler-iscas11,
  author = {Karagozler, Mustafa Emre and Thaker, A. and Goldstein,
     Seth Copen and Ricketts, David S.},
  booktitle = {Circuits and Systems (ISCAS), 2011 IEEE International
     Symposium on},
  title = {Electrostatic actuation and control of micro robots using a
     post-processed high-voltage SOI CMOS chip},
  year = {2011},
  month = {May},
  volume = {},
  number = {},
  pages = {2509 -2512},
  keywords = {Robot Fabrication, Actuation},
  doi = {10.1109/ISCAS.2011.5938114},
  issn = {0271-4302},
}

@inproceedings{karagozler-iros2009,
  title = {Stress-driven mems assembly+ electrostatic forces= 1mm
     diameter robot},
  author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
     Reid, J Robert},
  booktitle = {Intelligent Robots and Systems, 2009. IROS 2009.
     IEEE/RSJ International Conference on},
  pages = {2763--2769},
  year = {2009},
  keywords = {Robot Fabrication, Actuation},
  url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros09.pdf},
}

@article{campbell-ijrr-srmr,
  author = {Campbell, Jason D. and Pillai, Padmanabhan},
  title = {Collective Actuation},
  journal = {International Journal of Robotics Research},
  volume = {27},
  number = {3-4},
  year = {2008},
  pages = {299-314},
  keywords = {Actuation, Controlling Ensembles},
  abstract = {Modular robot designers confront an inherent tradeoff
     between size and power: Smaller, more numerous modules increase
     the adaptability of a given volume or mass of robot---allowing
     the aggregate robot to take on a wider variety of
     configurations---but do so at a cost of reducing the power and
     complexity budget of each module. Fewer, larger modules can
     incorporate more powerful actuators and stronger hinges but at a
     cost of overspecializing the resulting robot in favor of
     corresponding uses. In the paper we describe a technique for
     coordinating the efforts of many tiny modules to achieve forces
     and movements larger than those possible for individual modules.
     In a broad sense, the question of actuator capacity and range
     thus may become one of software coding and ensemble topology as
     well as of hardware design. An important aspect of this technique
     is its ability to bend complex and large-scale structures and to
     realize the equivalent of large scale joints. Although our
     results do not suggest that modular robots will replace high
     power purpose-built robots, they do offer an increase in the
     plausible scalability of modular robot self-reconfiguration and
     facilitate a corresponding increase in adaptability.},
}

@inproceedings{bkirby-iros07,
  author = {Kirby, Brian and Aksak, Burak and Goldstein, Seth Copen
     and Hoburg, James F. and Mowry, Todd C. and Pillai, Padmanabhan},
  title = {A Modular Robotic System Using Magnetic Force Effectors},
  booktitle = {Proceedings of the IEEE International Conference on
     Intelligent Robots and Systems ({IROS '07})},
  venue = {IEEE/RSJ International Conference on Intelligent Robots and
     Systems (IROS)},
  year = {2007},
  month = {October},
  abstract = {One of the primary impediments to building ensembles
     with many modular robots is the complexity and number of
     mechanical mechanisms used to construct the individual modules.
     As part of the Claytronics project---which aims to build very
     large ensembles of modular robots---we investigate how to
     simplify each module by eliminating moving parts and reducing the
     number of mechanical mechanisms on each robot by using
     force-at-a-distance actuators. Additionally, we are also
     investigating the feasibility of using these unary actuators to
     improve docking performance, implement intermodule adhesion,
     power transfer, communication, and sensing.},
  keywords = {Actuation, Adhesion},
  url = {http://www.cs.cmu.edu/~claytronics/papers/bkirby-iros07.pdf},
}

@inproceedings{karagozler-iros07,
  author = {Karagozler, Mustafa Emre and Campbell, Jason D. and
     Fedder, Gary K. and Goldstein, Seth Copen and Weller, Michael
     Philetus and Yoon, Byung W.},
  title = {Electrostatic Latching for Inter-module Adhesion, Power
     Transfer, and Communication in Modular Robots},
  booktitle = {Proceedings of the IEEE International Conference on
     Intelligent Robots and Systems ({IROS '07})},
  venue = {IEEE/RSJ International Conference on Intelligent Robots and
     Systems (IROS)},
  see = {karagozler-msreport07},
  year = {2007},
  month = {October},
  abstract = {A simple and robust inter-module latch is possibly the
     most important component of a modular robotic system. This paper
     describes a latch based on capacitive coupling which not only
     provides significant adhesion forces, but can also be used for
     inter-module power transmission and communication. The key
     insight that enables electrostatic adhesion to be effective at
     the macroscale is to combine flexible electrodes with a geometery
     that uses shear forces to provide adhesion. To measure the
     effectiveness of our latch we incorporated it into a 28cm x 28cm
     x 28cm modular robot. The result is a latch which requires almost
     zero static power and yet can hold over 0.6N/cm^2 of latch
     area.},
  keywords = {Actuation, Adhesion},
  url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros07.pdf},
}

@mastersthesis{karagozler-msreport07,
  author = {Karagozler, Mustafa Emre},
  title = {Harnessing Capacitance for Inter-Robot Latching,
     Communication, and Power Transfer},
  venue = {Masters Thesis},
  also = {Electrostatic Latching for Inter-module Adhesion, Power
     Transfer, and Communication in Modular Robots in IROS '07},
  month = {May},
  year = {2007},
  school = {Carnegie Mellon University},
  abstract = {A simple and robust inter-module latch is possibly the
     most important component of a modular robotic system. This report
     describes a latch based on capacitive coupling which not only
     provides significant adhesion forces, but can also be used for
     inter-module power transmission and communication. The key
     insight that enables electrostatic adhesion to be effective at
     the macro scale is to combine flexible electrodes with a geometry
     that uses shear forces to provide adhesion. To measure the
     effectiveness of our latch we incorporated it into a 28cm x 28cm
     x 28cm modular robot. The result is a latch which requires almost
     zero static power and yet can hold over 0.6N/cm2 of latch area.},
  keywords = {Actuation, Adhesion, Power},
  url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-msreport07.pdf},
}

@inproceedings{Christensen-icra07,
  author = {Christensen, David Johan and Campbell, Jason D.},
  title = {Locomotion of Miniature Catom Chains: Scale Effects on Gait
     and Velocity},
  booktitle = {Proceedings of the IEEE International Conference on
     Robotics and Automation ({ICRA '07})},
  venue = {IEEE International Conference on Robotics and Automation
     (ICRA)},
  month = {April},
  pages = {2254-2260},
  keywords = {Biologically Inspired, Actuation, Controlling
     Ensembles},
  year = {2007},
}

@inproceedings{campbell-rss06,
  author = {Campbell, Jason D. and Pillai, Padmanabhan},
  title = {Collective Actuation},
  booktitle = {RSS 2006 Workshop on Self-Reconfigurable Modular
     Robots},
  venue = {Robotics: Science and Systems Workshop on
     Self-Reconfigurable Modular Robots},
  year = {2006},
  month = {August},
  keywords = {Actuation, Controlling Ensembles},
  url = {http://www.cs.cmu.edu/~claytronics/papers/campbell-rss06.pdf},
  abstract = {Modular robot designers confront an inherent tradeoff
     between size and power: Smaller, more numerous modules increase
     the adaptability of a given volume or mass of modules---allowing
     the aggregate robot to take on a wider variety of configurations
     – but do so at the expense of the power and complexity of each
     module. Fewer, larger modules can incorporate more powerful
     actuators, more powerful bonds, and stronger hinges but at a cost
     of overspecializing the resulting robot in favor of
     correspond-ing uses. We describe a technique for coordinating the
     efforts of many tiny modules to achieve forces and movements
     be-yond those possible for individual modules. Our approach is
     predominantly applicable to spherical and cylindrical modules and
     their faceted counterparts, but may apply to some chain-style
     modular robot systems. Thus actuator capacity and range becomes a
     function of software and dynamic topology as well as of hardware.
     An important aspect of this technique is its ability to bend
     complex and large-scale structures and to realize the equivalent
     of large scale joints.},
}

@inproceedings{karagozler-iscas11,
  author = {Karagozler, Mustafa Emre and Thaker, A. and Goldstein,
     Seth Copen and Ricketts, David S.},
  booktitle = {Circuits and Systems (ISCAS), 2011 IEEE International
     Symposium on},
  title = {Electrostatic actuation and control of micro robots using a
     post-processed high-voltage SOI CMOS chip},
  year = {2011},
  month = {May},
  volume = {},
  number = {},
  pages = {2509 -2512},
  keywords = {Robot Fabrication, Actuation},
  doi = {10.1109/ISCAS.2011.5938114},
  issn = {0271-4302},
}

@inproceedings{karagozler-iros2009,
  title = {Stress-driven mems assembly+ electrostatic forces= 1mm
     diameter robot},
  author = {Karagozler, Mustafa Emre and Goldstein, Seth Copen and
     Reid, J Robert},
  booktitle = {Intelligent Robots and Systems, 2009. IROS 2009.
     IEEE/RSJ International Conference on},
  pages = {2763--2769},
  year = {2009},
  keywords = {Robot Fabrication, Actuation},
  url = {http://www.cs.cmu.edu/~claytronics/papers/karagozler-iros09.pdf},
}