Physical Intelligence


2023


Magnetically assisted soft milli-tools for occluded lumen morphology detection

Liquid Metal Actuators: A Comparative Analysis of Surface Tension Controlled Actuation
Liquid Metal Actuators: A Comparative Analysis of Surface Tension Controlled Actuation

Liao, J., Majidi, C., Sitti, M.

Advanced Materials (Deerfield Beach, Fla.), pages: e2300560-e2300560, June 2023 (article)

DOI [BibTex]

DOI [BibTex]


Programmable self-organization of heterogeneous microrobot collectives
Programmable self-organization of heterogeneous microrobot collectives

Ceron, S., Gardi, G., Petersen, K., Sitti, M.

Proceedings of the National Academy of Sciences, 120(24):e2221913120, June 2023 (article)

DOI [BibTex]

DOI [BibTex]


A Versatile Jellyfish-Like Robotic Platform for Effective Underwater Propulsion and Manipulation
A Versatile Jellyfish-Like Robotic Platform for Effective Underwater Propulsion and Manipulation

Wang, T., Joo, H., Song, S., Hu, W., Keplinger, C., Sitti, M.

Science Advances, 9(15), American Association for the Advancement of Science, April 2023, Tianlu Wang and Hyeong-Joon Joo contributed equally to this work. (article)

Abstract
Underwater devices are critical for environmental applications. However, existing prototypes typically use bulky, noisy actuators and limited configurations. Consequently, they struggle to ensure noise-free and gentle interactions with underwater species when realizing practical functions. Therefore, we developed a jellyfish-like robotic platform enabled by a synergy of electrohydraulic actuators and a hybrid structure of rigid and soft components. Our 16-cm-diameter noise-free prototype could control the fluid flow to propel while manipulating objects to be kept beneath its body without physical contact, thereby enabling safer interactions. Its against-gravity speed was up to 6.1 cm/s, substantially quicker than other examples in literature, while only requiring a low input power of around 100 mW. Moreover, using the platform, we demonstrated contact-based object manipulation, fluidic mixing, shape adaptation, steering, wireless swimming, and cooperation of two to three robots. This study introduces a versatile jellyfish-like robotic platform with a wide range of functions for diverse applications.

YouTube video link (url) DOI [BibTex]

YouTube video link (url) DOI [BibTex]


Magnetic guidewire steering at ultrahigh magnetic fields
Magnetic guidewire steering at ultrahigh magnetic fields

Tiryaki, M. E., Elmacıoğlu, Y. G., Sitti, M.

Science Advances, 9(17):eadg6438, 2023 (article)

DOI [BibTex]

DOI [BibTex]


Deployable Soft Origami Modular Robotic Arm With Variable Stiffness Using Facet Buckling
Deployable Soft Origami Modular Robotic Arm With Variable Stiffness Using Facet Buckling

Park, M., Kim, W., Yu, S., Cho, J., Kang, W., Byun, J., Jeong, U., Cho, K.

IEEE Robotics and Automation Letters, 8(2):864-871, 2023 (article)

DOI [BibTex]

DOI [BibTex]


Bioinspired rotary flight of light-driven composite films
Bioinspired rotary flight of light-driven composite films

Wang, D., Chen, Z., Li, M., Hou, Z., Zhan, C., Zheng, Q., Wang, D., Wang, X., Cheng, M., Hu, W., others,

Nature Communications, 14(1):5070, 2023 (article)

DOI [BibTex]

DOI [BibTex]


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Integrated mechanologics for autonomous soft machines

Pal, A., Byun, J., Ko, J., Sitti, M.

Bulletin of the American Physical Society, 2023 (article)

[BibTex]

[BibTex]


A ferroelectric/ferroelastic energy harvester: Load impedance and frequency effects
A ferroelectric/ferroelastic energy harvester: Load impedance and frequency effects

Kang, W., Cain, C., Paynter, R., Huber, J. E.

Energy Conversion and Management, 277, pages: 116687, 2023 (article)

DOI [BibTex]

DOI [BibTex]


Avian-Inspired Perching Mechanism for Jumping Robots
Avian-Inspired Perching Mechanism for Jumping Robots

Kim, H., Woodward, M. A., Sitti, M.

Advanced Intelligent Systems, pages: 2300072, 2023 (article)

DOI [BibTex]

DOI [BibTex]


Bio-inspired rotary flight of light-driven nanocomposite films
Bio-inspired rotary flight of light-driven nanocomposite films

Wang, D., Chen, Z., Li, M., Hou, Z., Zhan, C., Zheng, Q., Wang, D., Wang, X., Cheng, M., Hu, W., Sitti, M., others,

2023 (article)

DOI [BibTex]

DOI [BibTex]


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Microfibers with mushroom-shaped tips for optimal adhesion

Sitti, M., Aksak, B.

2023, US Patent 11,613,674 (patent)

[BibTex]

[BibTex]


Magnetic trap system and method of navigating a microscopic device
Magnetic trap system and method of navigating a microscopic device

Son, D., Ugurlu, M., Bluemer, P., Sitti, M.

2023, US Patent App. 17/871,598 (patent)

[BibTex]


Programmable mechanical devices through magnetically tunable bistable elements
Programmable mechanical devices through magnetically tunable bistable elements

Pal, A., Sitti, M.

Proceedings of the National Academy of Sciences, 120(15):e2212489120, 2023 (article)

DOI [BibTex]

DOI [BibTex]

2022


Programmable aniso-electrodeposited modular hydrogel microrobots
Programmable aniso-electrodeposited modular hydrogel microrobots

Zheng, Z., Wang, H., Demir, S. O., Huang, Q., Fukuda, T., Sitti, M.

Science Advances, 8(50):eade6135, December 2022 (article)

DOI [BibTex]

2022

DOI [BibTex]


Control of Two-Degree-of-Freedom Inertial Appendages of a Small-Scale Jumping Robot for Enhanced Terrestrial and Aerial Maneuverability
Control of Two-Degree-of-Freedom Inertial Appendages of a Small-Scale Jumping Robot for Enhanced Terrestrial and Aerial Maneuverability

Hong, C., Tang, D., Quan, Q., Cao, Z., Wang, C., Sitti, M., Deng, Z.

IEEE/ASME Transactions on Mechatronics, pages: 1-12, December 2022 (article)

DOI [BibTex]

DOI [BibTex]


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DRY ADHESIVES AND METHODS FOR MAKING DRY ADHESIVES

Metin Sitti, Michael Murphy, Burak Aksak

December 2022, US Patent App. 17/895,334, 2022 (patent)

[BibTex]

[BibTex]


3D-printed microrobots from design to translation
3D-printed microrobots from design to translation

Dabbagh, S. R., Sarabi, M. R., Birtek, M. T., Seyfi, S., Sitti, M., Tasoglu, S.

Nature Communications, 13, pages: 5875, October 2022 (article)

DOI [BibTex]

DOI [BibTex]


Scale-reconfigurable miniature ferrofluidic robots for negotiating sharply variable spaces
Scale-reconfigurable miniature ferrofluidic robots for negotiating sharply variable spaces

Fan, X., Jiang, Y., Li, M., Zhang, Y., Tian, C., Mao, L., Xie, H., Sun, L., Yang, Z., Sitti, M.

Science Advances, 8(37):eabq1677, September 2022 (article)

DOI [BibTex]

DOI [BibTex]


Wireless Miniature Magnetic Phase-Change Soft Actuators
Wireless Miniature Magnetic Phase-Change Soft Actuators

Tang, Y., Li, M., Wang, T., Dong, X., Hu, W., Sitti, M.

Advanced Materials, 34(40):2204185, August 2022 (article)

DOI [BibTex]

DOI [BibTex]


On-demand anchoring of wireless soft miniature robots on soft surfaces
On-demand anchoring of wireless soft miniature robots on soft surfaces

Soon, R. H., Ren, Z., Hu, W., Bozuyuk, U., Yildiz, E., Li, M., Sitti, M.

Proceedings of the National Academy of Sciences, 119(34):e2207767119, August 2022 (article)

DOI [BibTex]

DOI [BibTex]


Piezo Capsule: Ultrasonic Way of Wireless Pressure Measurement
Piezo Capsule: Ultrasonic Way of Wireless Pressure Measurement

Mutlu, S., Aghakhani, A., Sitti, M.

Advanced Intelligent Systems, 4(10):2200125, August 2022 (article)

DOI [BibTex]

DOI [BibTex]


Magnetically actuated gearbox for the wireless control of millimeter-scale robots
Magnetically actuated gearbox for the wireless control of millimeter-scale robots

Hong, C., Ren, Z., Wang, C., Li, M., Wu, Y., Tang, D., Hu, W., Sitti, M.

Science Robotics, 7(69):eabo4401, August 2022 (article)

DOI [BibTex]

DOI [BibTex]