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Abstract: We will present the analysis of possibly the world's smallest walking robot developed by Marc Miskin which is about 100um on its longest dimension. At this scale the mechanism for locomotion is very unconventional; it doesn't use inertia so the movement is not dynamic in that sense, at the same time it is not statically stable and must rely on falling as part of its gait.
We will also present design issues on the world's smallest self-powered flying robot. It has one motor. How can it fly? How can we control the position of this device even though it has only one motor? What issues in stability arise? How do we manage sensors when there is no part of the robot that is not constantly spinning?
Bio: Mark Yim is the Asa Whitney Professor of Mechanical Engineering in the School of Engineering and Applied Science at the University of Pennsylvania. He is the director of the GRASP Lab, the oldest robotics research laboratory in the country established in 1979. His group has demonstrated robots ranging from a humanoid on display at the Philadelphia Museum of Art to the smallest self-powered flying robot in the world. His current research focus includes reconfigurable truss robots that can help in search and rescue operations, swarms of boats that can attach together and reconfigure their shape, swarms of small flying robots that can group into shapes that interact with humans and swarms of microscopic robots that can build structures. His other research interests include product design, robotic performance art, novel locomotion, low-cost manipulation, in search and rescue as well as healthcare applications. Prior to Penn, he spent ten years in industry including positions as Principal Scientist at the Palo Alto Research Center (formerly Xerox PARC) and Virtual Technologies, a virtual reality startup company. He received his PhD from Stanford University in Mechanical Engineering.
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