Neel Doshi

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Legged locomotion is an open problem in robotics, particularly for non-level surfaces. With decreasing robot size, different issues for climbing mechanisms and their attachment and detachment appear due to the physics of scaling. This paper describes micro-scale phenomena for different adhesion methods that can be employed in microrobots. These adhesion(More)
This paper addresses the self-assembly of a large team of autonomous boats into floating platforms. We describe the design of individual boats, the systems concept, the algorithms, the software architecture and experimental results with prototypes that are 1:12 scale realizations of modified ISO shipping containers, with the goal of demonstrating(More)
Full autonomy remains a challenge for miniature robotic platforms due to mass and size requirements of on-board power and control electronics. This paper presents a solution to these challenges with a 2.3g autonomous legged robot. An off-the-shelf optical mouse sensor is adapted for use on the Harvard Ambulatory Microrobot (HAMR) by reducing the sensor(More)
This paper presents a non-linear, dynamic model of the flexure-based transmission in the Harvard Ambulatory Microrobot (HAMR). The model is derived from first principles and has led to a more comprehensive understanding of the components in this transmission. In particular, an empirical model of the dynamic properties of the compliant Kapton flexures is(More)
Binary mixtures of colloidal particles of sufficiently different sizes or shapes tend to demix at high concentration. Already at low concentration, excluded volume interactions between the two species give rise to structuring effects. Here, a new theoretical description is proposed of the structure of colloidal sphere-plate mixtures, based on a density(More)
In addition to containing spherical pigment particles, coatings usually contain plate-like clay particles. It is thought that these improve the opacity of the paint film by providing an efficient spacing of the pigment particles. This observation is counterintuitive, as suspensions of particles of different shapes and sizes tend to phase separate on(More)
We present an off-board phase estimator and controller for leg position near the resonance of the Harvard Ambulatory MicroRobot's (HAMR) two degree-of-freedom transmission. This control system is a first step towards leveraging the significant increase in stride length at transmission resonance for faster and more efficient locomotion. We experimentally(More)
This paper presents an off-board trajectory controller for a range of stride frequencies (2–45 Hz) that enables zero-radius turns and holonomic control on one of the smallest and fastest legged robots, the Harvard Ambulatory MicroRobot (HAMR). An experimental model is used as the basis for control to capture the highly nonlinear response of the robot(More)
Performance metrics such as speed, cost of transport, and stability are the driving factors behind gait selection in legged locomotion. To help understand the effect of gait on the performance and dynamics of small-scale ambulation, we explore four quadrupedal gaits over a wide range of stride frequencies on a 1.43 g, biologically-inspired microrobot, the(More)
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