18 citations · 31 across the 11 of their papers we have counts for
11 papers
Novel Design of 3D Printed Tumbling Microrobots for in vivo Targeted Drug Delivery
Aaron C. Davis, Siting Zhang, Adalyn Meeks +7
This paper presents innovative designs for 3D-printed tumbling microrobots, specifically engineered for targeted in vivo drug delivery applications. The microrobot designs, created…
RoMu4o: A Robotic Manipulation Unit For Orchard Operations Automating Proximal Hyperspectral Leaf Sensing
Mehrad Mortazavi, David J. Cappelleri, Reza Ehsani
Driven by the need to address labor shortages and meet the demands of a rapidly growing population, robotic automation has become a critical component in precision agriculture. Lea…
Micromanipulation System for Microscale Magnetic Component Alignment and Assembly
Oliver J. Shindell, Aaron C. Davis, David J. Cappelleri
This paper presents a contact-based micromanipulation system for the alignment and installment of microscale magnets into micro robots and devices. Affixing tweezers to a three deg…
Sim-Grasp: Learning 6-DOF Grasp Policies for Cluttered Environments Using a Synthetic Benchmark
Juncheng Li, David J. Cappelleri
In this paper, we present Sim-Grasp, a robust 6-DOF two-finger grasping system that integrates advanced language models for enhanced object manipulation in cluttered environments.…
Shape-programmable Adaptive Multi-material Microrobots for Biomedical Applications
Liyuan Tan, Yang Yang, Li Fang +1
Flagellated microorganisms can swim at low Reynolds numbers and adapt to changes in their environment. Specifically, the flagella can switch their shapes or modes through gene expr…
Responsive Hydrogel-based Modular Microrobots for Multi-functional Micromanipulation
Liyuan Tan, David J. Cappelleri
Microrobots show great potential in biomedical applications such as drug delivery and cell manipulations. However, current microrobots are mostly fabricated as a single entity and…
Sim-MEES: Modular End-Effector System Grasping Dataset for Mobile Manipulators in Cluttered Environments
Juncheng Li, David J. Cappelleri
In this paper, we present Sim-MEES: a large-scale synthetic dataset that contains 1,550 objects with varying difficulty levels and physics properties, as well as 11 million grasp l…
Sim-Suction: Learning a Suction Grasp Policy for Cluttered Environments Using a Synthetic Benchmark
Juncheng Li, David J. Cappelleri
This paper presents Sim-Suction, a robust object-aware suction grasp policy for mobile manipulation platforms with dynamic camera viewpoints, designed to pick up unknown objects fr…
Dynamic Simulation-Guided Design of Tumbling Magnetic Microrobots
Jiayin Xie, Chenghao Bi, David J. Cappelleri +1
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict t…
Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots
Jiayin Xie, Chenghao Bi, David J. Cappelleri +1
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or perf…
Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks
Yiannis Kantaros, Benjamin Johnson, Sagar Chowdhury +2
In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) for…