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Design, Fabrication and Characterization of an Autonomous, Sub-millimeter Scale Modular Robot

 

PhD Thesis, Carnegie Mellon University

Mustafa Emre Karagozler

2012


@phdthesis{karagozler-phdthesis,
  author = {Karagozler, Mustafa Emre},
  title = {Design, Fabrication and Characterization of an Autonomous,
     Sub-millimeter Scale Modular Robot},
  school = {Carnegie Mellon University},
  keywords = {Actuation, Adhesion, Power},
  year = {2012}
}

Related Papers

Adhesion
Analysis and Modeling of Capacitive Power Transfer in Microsystems
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts. Circuits and Systems I: Regular Papers, IEEE Transactions on, 59(7):1557–1566,July, 2012.
Design, Fabrication and Characterization of an Autonomous, Sub-millimeter Scale Modular Robot
Mustafa Emre Karagozler. PhD Thesis, Carnegie Mellon University, 2012.
A Modular Robotic System Using Magnetic Force Effectors
Brian Kirby, Burak Aksak, Seth Copen Goldstein, James F. Hoburg, Todd C. Mowry, and Padmanabhan Pillai. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), October, 2007.
Adhesion Behavior of Vertical and Aligned Polymer Microfibers
M.P. Murphy, Burak Aksak, and Metin Sitti. In Proceedings of Adhesion Society Symposium, February, 2007.
Adhesion and Anisotropic Friction Enhancements of Angled Heterogeneous Micro-Fiber Arrays with Spherical and Spatula Tips
M.P. Murphy, Burak Aksak, and Metin Sitti. Journal of Adhesion Science and Technology, 2007.
Adhesion of Biologically Inspired Vertical and Angled Polymer Microfiber Arrays
Burak Aksak, M.P. Murphy, and Metin Sitti. Langmuir, 23(6):3322–32,February, 2007.
Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots
Mustafa Emre Karagozler, Jason D. Campbell, Gary K. Fedder, Seth Copen Goldstein, Michael Philetus Weller, and Byung W. Yoon. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), October, 2007. See karagozler-msreport07.
Harnessing Capacitance for Inter-Robot Latching, Communication, and Power Transfer
Mustafa Emre Karagozler. Master's Thesis, Carnegie Mellon University, May, 2007. Also appeared as Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots in IROS '07.
Movement Primitives for an Orthogonal Prismatic Closed-Lattice-Constrained Self-Reconfiguring Module
Michael Philetus Weller, Mustafa Emre Karagozler, Brian Kirby, Jason D. Campbell, and Seth Copen Goldstein. In Workshop on Self-Reconfiguring Modular Robotics at the IEEE International Conference on Intelligent Robots and Systems (IROS) '07, October, 2007.
Actuation
Analysis and Modeling of Capacitive Power Transfer in Microsystems
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts. Circuits and Systems I: Regular Papers, IEEE Transactions on, 59(7):1557–1566,July, 2012.
Design, Fabrication and Characterization of an Autonomous, Sub-millimeter Scale Modular Robot
Mustafa Emre Karagozler. PhD Thesis, Carnegie Mellon University, 2012.
Electrostatic actuation and control of micro robots using a post-processed high-voltage SOI CMOS chip
Mustafa Emre Karagozler, A. Thaker, Seth Copen Goldstein, and David S. Ricketts. In Circuits and Systems (ISCAS), 2011 IEEE International Symposium on, ():2509 –2512,May, 2011.
A Modular Robotic System Using Magnetic Force Effectors
Brian Kirby, Burak Aksak, Seth Copen Goldstein, James F. Hoburg, Todd C. Mowry, and Padmanabhan Pillai. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), October, 2007.
Collective Actuation
Jason D. Campbell and Padmanabhan Pillai. International Journal of Robotics Research, 2007.
Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots
Mustafa Emre Karagozler, Jason D. Campbell, Gary K. Fedder, Seth Copen Goldstein, Michael Philetus Weller, and Byung W. Yoon. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '07), October, 2007. See karagozler-msreport07.
From Roles to Anatomy to Scalable Modular Self-Reconfigurable Robots
David Johan Christensen and Jason D. Campbell. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems IROS '07, 2007.
Harnessing Capacitance for Inter-Robot Latching, Communication, and Power Transfer
Mustafa Emre Karagozler. Master's Thesis, Carnegie Mellon University, May, 2007. Also appeared as Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots in IROS '07.
Locomotion of Miniature Catom Chains: Scale Effects on Gait and Velocity
David Johan Christensen and Jason D. Campbell. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07), April, 2007.
Collective Actuation
Jason D. Campbell and Padmanabhan Pillai. In RSS 2006 Workshop on Self-Reconfigurable Modular Robots, August, 2006.
Power
Analysis and Modeling of Capacitive Power Transfer in Microsystems
Mustafa Emre Karagozler, Seth Copen Goldstein, and David S. Ricketts. Circuits and Systems I: Regular Papers, IEEE Transactions on, 59(7):1557–1566,July, 2012.
Design, Fabrication and Characterization of an Autonomous, Sub-millimeter Scale Modular Robot
Mustafa Emre Karagozler. PhD Thesis, Carnegie Mellon University, 2012.
Magnetic resonant coupling as a potential means for wireless power transfer to multiple small receivers
Benjamin L. Cannon, James F. Hoburg, Daniel D. Stancil, and Seth Copen Goldstein. IEEE Transactions on Power Electronics, 24(7),July, 2009.
Harnessing Capacitance for Inter-Robot Latching, Communication, and Power Transfer
Mustafa Emre Karagozler. Master's Thesis, Carnegie Mellon University, May, 2007. Also appeared as Electrostatic Latching for Inter-module Adhesion, Power Transfer, and Communication in Modular Robots in IROS '07.
Power Delivery Circuit for Scalable Claytronics
Byung W. Yoon. Master's Thesis, Carnegie Mellon University, Electrical and Computer Engineering, August, 2007.
The Robot is the Tether: Active, Adaptive Power Routing for Modular Robots With Unary Inter-robot Connectors
Jason D. Campbell, Padmanabhan Pillai, and Seth Copen Goldstein. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), pages 4108–15, August, 2005.


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