We are presenting our lab and robots online on 23rd June. Join the livestream at https://youtu.be/ncQCxKjRpFM at 4pm UK time.

Key words: micro/milli-robot, meta-material, self-assembling machine, shape changing mechanism, distributed control, biomedicine

Origami Robots 

This project demonstrates a new approach to configure a miniature origami robot that folds up on the spot, accomplishes tasks, and disappears by degradation. 
  • Du Plessis D'Argentr, A., Perry, S., Iwata, Y., Iwasaki, H., Will, I., Fabozzo, A., Iwase, E., Damian, D., Rus, D., Miyashita, S (2018) Programmable Medicine: Autonomous, Ingestible, Deployable Patch and Plug for Stomach Ulcer TherapyIEEE International Conference on Robotics and Automation (ICRA).
    LinkPreprint PDF
  • Miyashita, S., Guitron, S., Li, S., and Rus D. (2017) Robotic Metamorphosis by Origami Exoskeletons, Science Robotics, 2 eaao4369.
    Link | PDF | SM
  • Sung, R. C., Lin, R., Miyashita, S., Yim, S., Kim, S., and Rus, D. (2017) Self-folded Soft Robotic Structures with Controllable Joints, IEEE International Conference on Robotics and Automation (ICRA), pp. 580-587.
    Link | Preprint PDF
  • Miyashita, S., Guitron, S., Yoshida, K., Li, S., Damian, D. D., and Rus, D. (2016) Ingestible, Controllable, and Degradable Origami Robot for Patching Stomach Wounds, IEEE International Conference on Robotics and Automation (ICRA), pp. 909-916.
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  • Miyashita, S., Guitron, S., Ludersdorfer, M., Sung, C., and Rus, D. (2015) An Untethered Miniature Origami Robot that Self-folds, Walks, Swims, and Degrades, IEEE International Conference on Robotics and Automation (ICRA)pp. 1490-1496, Seattle, USA
    Link | Preprint PDF
  • Miyashita, S., DiDio, I., Ananthabhotla, I., An, B., Sung, C., Arabagi, S., and Rus, D. (2015) Folding Angle Regulation by Curved Crease Design for Self-Assembling Origami PropellersASME Journal of Mechanisms and Robotics, 7021013. 
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  • Miyashita, S., Meeker L., Tolley, T. M., Wood, J. R., and Rus, D. (2014) Self-Folding Miniature Elastic Electric DeviceThe IOP Journal Smart Materials and Structures23 094005, doi:10.1088/0964-1726/23/9/094005. 
    Link | Preprint PDF
  • Miyashita, S., Meeker, L., Goldi, M., Kawahara, Y., and Rus, D. (2014) Self-Folding Printable Elastic Electric Devices: Resistor, Capacitor, and Inductor. IEEE International Conference on Robotics and Automation (ICRA), pp. 1446-1453, Hong Kong.
    Link | Preprint PDF
  • Miyashita, S., Onal, D. C., and Rus, D. (2013) Self-pop-up Cylindrical Structure by Global Heating, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4065-4071, Tokyo, Japan.
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In this project, we realized magnet based self-assembly micro-robots. We developed a remotely-applicable magnetic switch mechanism and realized targeted reconfiguration with four floating micro-modules. By using multiple magnetic materials, we achieve differential inter-modular interactions, regulated by externally applied magnetic fields. The technique features both molecular-inspired bottom-up approach and top-down engineering control approach.
  • Miyashita, S., Diller, E., and Sitti, M. (2013) Two-Dimensional Magnetic Micro-Module Reconfigurations Based on Inter-Modular InteractionsInternational Journal of Robotics Research, 32, 591-615. 
    LinkPreprint PDF
  • Diller, E., Miyashita, S., and Sitti, M. (2012). Wirelessly Addressable Magnetic Composite MicropumpsRSC Advances. 2 (9), 3850-3856.  
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  • Diller, E., Miyashita, S., and Sitti, M., Magnetic Hysteresis for Multi-State Addressable Magnetic Microrobotic Control. (2012) In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Algarve, Portugal, October, pp. 2325-2331. (Acceptance rate: 45%). 
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Self-assembling meta-materials 

The goal of this project is to design "mechanical reactions" with non-molecular entities. The paper (J. Royal Soc. Interface) presents that "catalysis is possible with a non-molecular entity", also addressing the design principle.
  • Southern EJ., Besnard V., Lahaye B., Tyrrell AM., and Miyashita S. (2019) Catalytic self-folding of 2D structures through cascading magnet reactions, Royal Society Open Science, DOI: https://doi.org/10.1098/rsos.182128
    Link | PDF
  • Miyashita, S., Audretsch, C., Nagy, Z., Fuchslin, R., and Pfeifer, R. (2015) Mechanical Catalysis on the Centimeter Scale. Journal of the Royal Society Interface. 12: 20141271. 
    LinkPDF | Movie | Sppl. Mat. | download stl files
  • Miyashita, S. (2011) Effect of Morphology on Scalable Self-Assembling Robots -in Pursuit of Living Artificial Systems-. Ph.D. thesis, University of Zurich. 
  • Miyashita, S., Goldi, M., and Pfeifer, R. (2011) How reverse reactions influence the yield rate of stochastic self-assembly. International Journal of Robotics Research, 30, 627-641. 
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  • Miyashita, S., Nagy, Z., Nelson, B. J., and Pfeifer, R. (2009) The influence of shape on parallel self-assembly. Entropy, 11, 643-666. 
    Link | PDF
  • Miyashita, S., Casanova, F., Lungarella, M., and Pfeifer, R. (2008) Peltier-Based Freeze-Thaw Connector for Waterborne Self-Assembly Systems. IEEE International Conference on Intelligent Robots and Systems (IROS), 1325-1330. 
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