Neel Doshi

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— 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)
—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)
— 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)
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