Faculty Publications - Ronald S. Fearing

Articles in journals or magazines

• K. Takei, T. Takahashi, J. C. Ho, H. Ko, A. G. Gillies, P. W. Leu, R. S. Fearing, and A. Javey, "Nanowire active-matrix circuitry for low-voltage macroscale artificial skin," Nature Materials, vol. 9, no. 10, pp. 821-826, Oct. 2010. [abstract]
• H. Ko, Z. Zhang, Y. Chueh, J. C. Ho, J. Lee, R. S. Fearing, and A. Javey, "Wet and Dry Adhesion Properties of Self-Selective Nanowire Connectors," ADVANCED FUNCTIONAL MATERIALS, vol. 19, no. 19, pp. 3098-3102, Oct. 2009.
• H. Ko, J. Lee, B. E. Schubert, Y. Chueh, P. W. Leu, R. S. Fearing, and A. Javey, "Hybrid Core-Shell Nanowire Forests as Self-Selective Chemical Connectors," NANO LETTERS, vol. 9, no. 5, pp. 2054-2058, May 2009.
• J. Lee and R. S. Fearing, "Contact self-cleaning of synthetic gecko adhesive from polymer microfibers," Langmuir, vol. 24, no. 19, pp. 10587-10591, Sep. 2008.
• J. lee, C. Majidi, B. Schubert, and R. S. Fearing, "Sliding induced adhesion of stiff polymer microfiber arrays: I. Macroscale behaviour," J. Royal Society: Interface, vol. 5, no. 25, pp. 835-844, Aug. 2008.
• B. Schubert, J. Lee, C. Majidi, and R. S. Fearing, "Sliding induced adhesion of stiff polymer microfiber arrays: II. Microscale behaviour," J. Royal Society: Interface, vol. 5, no. 25, pp. 845-853, Aug. 2008.
• R. J. Wood, S. Avadhanula, R. Sahai, E. Steltz, and R. S. Fearing, "Microrobot design using fiber reinforced composites," ASME J. Mechanical Design, vol. 130, no. 5, pp. 052304-1-11, May 2008.
• C. Majidi and R. S. Fearing, "Adhesion of an elastic plate to a sphere," Proc. Royal Society of London, Series A: Mathematical, Physical and Engineering Sciences, vol. 464, no. 2093, pp. 1309-1317, May 2008.
• C. Majidi, R. E. Groff, and R. S. Fearing, "Analysis of shaft-loaded membrane delamination using stationary principles," Mathematics and Mechanics of Solids, vol. 13, no. 1, pp. 3-22, Jan. 2008.
• B. Schubert, C. Majidi, R. E. Groff, S. Baek, B. Bush, R. Maboudian, and R. S. Fearing, "Towards friction and adhesion from high modulus microfiber arrays," J. Adhesion Science and Technology: Special Issue on Gecko-Inspired Adhesion, vol. 21, no. 12-13, pp. 1297-1315, 2007.
• R. J. Wood, S. Avadhanula, E. Steltz, M. Seeman, J. Entwistle, A. Bachrach, G. Barrows, S. R. Sanders, and R. S. Fearing, "An autonomous palm-sized gliding micro air vehicle: Design, fabrication, and results of a fully integrated centimeter-scale MAV," IEEE Robotics & Automation Magazine, vol. 14, no. 2, pp. 82-91, June 2007.
• K. Autumn, C. Majidi, R. E. Groff, A. Dittmore, and R. S. Fearing, "Effective elastic modulus of isolated gecko setal arrays," J. Experimental Biology, vol. 209, no. 18, pp. 3558-3568, Sep. 2006.
• C. Majidi, R. E. Groff, Y. Maeno, B. Schubert, S. Baek, B. Bush, R. Maboudian, N. Gravish, M. Wilkinson, K. Autumn, and R. S. Fearing, "High friction from a stiff polymer using microfiber arrays," Physical Review Letters, vol. 97, no. 7, pp. 076103-1-4, Aug. 2006.
• C. S. Majidi, R. E. Groff, and R. S. Fearing, "Attachment of fiber array adhesive through side contact," J. Applied Physics, vol. 98, no. 10, pp. 103521-1-5, Nov. 2005.
• R. J. Wood, E. Steltz, and R. S. Fearing, "Optimal energy density piezoelectric bending actuators," Sensors and Actuators A, vol. 119, no. 2, pp. 476-488, April 2005.
• M. Sitti and R. S. Fearing, "Synthetic gecko foot-hair micro/nano-structures as dry adhesives," J. Adhesion Science and Technology, vol. 17, no. 8, pp. 1055-1073, Aug. 2003.
• D. Campolo, M. Sitti, and R. S. Fearing, "Efficient charge recovery method for driving piezoelectric actuators with quasi-square waves," IEEE Trans. Ultrasonics, Ferroelectrics and Frequency Control, vol. 50, no. 3, pp. 237-244, March 2003.
• M. Moll, K. Goldberg, M. A. Erdmann, and R. S. Fearing, "Aligning parts for micro assemblies," Assembly Automation: Special Issue on Actuators and Micro Assembly, vol. 22, no. 1, pp. 46-54, Feb. 2002.
• K. Autumn, Y. A. Liang, S. T. Hsieh, W. Zesch, W. P. Chan, T. W. Kenny, R. S. Fearing, and R. J. Full, "Adhesive force of a single gecko foot-hair," Nature, vol. 405, no. 6787, pp. 681-685, June 2000.
• G. Moy, U. Singh, E. Tan, and R. S. Fearing, "Human psychophysics for teletaction system design," Haptics-e, The Electronics J. of Haptics Research, vol. 1, no. 3, pp. 20 p., Feb. 2000.
• F. Tendick, S. S. Sastry, R. S. Fearing, and M. Cohn, "Applications of micromechatronics in minimally invasive surgery," IEEE/ASME Trans. Mechatronics, vol. 3, no. 1, pp. 34-42, March 1998.
• K. Pister, M. W. Judy, S. R. Burgett, and R. S. Fearing, "Microfabricated hinges," Sensors and Actuators A (Physical), vol. A33, no. 3, pp. 249-256, June 1992.

Articles in conference proceedings

• R. Fearing and F. Garcia Bermudez, "Optical Flow on a Flapping Wing Robot," in Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 2009, pp. 5027-5032. [abstract]
• A. Hoover, E. Steltz, and R. S. Fearing, "RoACH: An autonomous 2.4g crawling hexapod robot," in Proc. 2008 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS '08), Piscataway, NJ: IEEE Press, 2008, pp. 26-33.
• M. P. Reyes and R. S. Fearing, "Macromodel for the mechanics of gecko hair adhesion," in Proc. 2008 IEEE Intl. Conf. on Robotics and Automation (ICRA '08), Piscataway, NJ: IEEE Press, 2008, pp. 1602-1607.
• A. M. Hoover and R. S. Fearing, "Fast scale prototyping for folded millirobots," in Proc. 2008 IEEE Intl. Conf. on Robotics and Automation (ICRA '08), Piscataway, NJ: IEEE Press, 2008, pp. 886-892.
• A. M. Hoover and R. S. Fearing, "Fast scale prototyping for folded millirobots," in Proc. 2008 IEEE Intl. Conf. on Robotics and Automation (ICRA '08): The Half-Day Workshop on Towards Autonomous Agriculture of Tomorrow, Piscataway, NJ: IEEE Press, 2008, pp. 1777-1778.
• E. Steltz and R. S. Fearing, "Dynamometer power output measurements of piezoelectric actuators," in Proc. 2007 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS '07), Piscataway, NJ: IEEE Press, 2007, pp. 3980-3986.
• E. Steltz, S. Avadhanula, and R. S. Fearing, "High lift force with 275 Hz wing beat in MFI," in Proc. 2007 IEEE/RSJ Intl. Conf. Intelligent Robots and Systems (IROS '07), Piscataway, NJ: IEEE Press, 2007, pp. 3987-3992.
• A. M. Hoover and R. S. Fearing, "Rapidly prototyped orthotweezers for automated microassembly," in Proc. 2007 IEEE Intl. Conf. on Robotics and Automation (ICRA '07), S. Hutchinson, Ed., Piscataway, NJ: IEEE Press, 2007, pp. 812-819.
• E. Steltz, M. Seeman, S. Avadhanula, and R. S. Fearing, "Power electronics design choice for piezoelectric microrobots," in Proc. 2006 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Piscataway, NJ: IEEE Press, 2006, pp. 1322-1328.
• R. S. Fearing, "Challenges for Effective Millirobots (Plenary Talk)," in Proc. 2006 IEEE Intl. Conf. on Robotics and Automation (ICRA '06), Piscataway, NJ: IEEE Press, 2006, pp. Abst..
• M. Spenko, M. Cutkosky, C. Majidi, R. S. Fearing, R. Groff, and K. Autumn, "Foot design and integration for bioinspired climbing robots," in Proc. SPIE: Unmanned Systems Technology VIII, G. R. Gerhart, C. M. Shoemaker, and D. W. Gage, Eds., Vol. 6230, Bellingham, WA: SPIE, 2006, pp. 19-1-12.
• A. M. Hoover, S. Avadhanula, R. E. Groff, and R. S. Fearing, "A rapidly prototyped 2-axis positioning stage for microassembly using large displacement compliant mechanisms," in Proc. 2006 IEEE Intl. Conf. on Robotics and Automation, Piscataway, NJ: IEEE Press, 2006, pp. 289-295.
• R. Sahai, S. Avadhanula, R. Groff, E. Steltz, R. Wood, and R. S. Fearing, "Towards a 3g crawling robot through the integration of microrobot technologies," in Proc. 2006 Intl. Conf. on Robotics and Automation (CRA 2006), Piscataway, NJ: IEEE Press, 2006, pp. 296-302.
• R. J. Wood, S. Avadhanula, E. Steltz, M. Seeman, J. Entwistle, A. Bachrach, G. Barrows, S. R. Sanders, and R. S. Fearing, "Design, fabrication and initial results of a 2g autonomous glider," in Proc. 31st Annual Conf. of the IEEE Industrial Electronics Society (IECON 2005), Piscataway, NJ: IEEE Press, 2005, pp. 1870-1877.
• C. Majidi, R. Groff, and R. S. Fearing, "Clumping and packing of hair arrays manufactured by nanocasting," in Proc. 2004 ASME Intl. Mechanical Engineering Congress & Exposition (IMECE '04)--Winter Meeting, New York, NY: ASME, 2004, pp. 6 pp.
• J. Yan and R. S. Fearing, "Wing force map characterization and simulation for the micromechanical flying insect," in Proc. 2003 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2003), Vol. 2, Piscataway, NJ: IEEE Press, 2003, pp. 1343-1349.
• S. Avadhanula, R. J. Wood, E. Steltz, J. Yan, and R. S. Fearing, "Lift force improvements for the micromechanical flying insect," in Proc. 2003 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2003), Vol. 2, Piscataway, NJ: IEEE Press, 2003, pp. 1350-1356.
• W. Wu, L. Shenato, R. J. Wood, and R. S. Fearing, "Biomimetic sensor suite for flight control of a micromechanical flying insect: Design and experimental results," in Proc. 2003 IEEE Intl. Conf. on Robotics and Automation (ICRA 2003), Vol. 1, Piscataway, NJ: IEEE Press, 2003, pp. 1146-1151.
• R. J. Wood, S. Avadhanula, M. Menon, and R. S. Fearing, "Microrobotics using composite materials: The micromechanical flying insect thorax," in Proc. IEEE Intl. Conf. on Robotics and Automation, Vol. 2, Piscataway, NJ: IEEE Press, 2003, pp. 1842-1849.
• M. Moll, K. Goldberg, M. A. Erdmann, and R. S. Fearing, "Orienting micro-scale parts with squeeze and roll primitives," in Proc. 2002 IEEE Intl. Conf. on Robotics and Automation, Vol. 2, Piscataway, NJ: IEEE Press, 2002, pp. 1931-1936.
• E. Shimada, J. A. Thompson, J. Yan, R. Wood, and R. S. Fearing, "Prototyping millirobots using dextrous microassembly and folding," in Proc. 2000 ASME Intl. Mechanical Engineering Congress and Exposition: Symp. on Microrobotics, Vol. 69-2, New York, NY: ASME, 2000, pp. 933-940.

Technical Reports

• E. Sladek and R. S. Fearing, "The Dynamic Response of a Tactile Sensor," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M89/138, 1989.
• M. Berkemeier and R. S. Fearing, "Determining the Axis of a Surface of Revolution Using Tactile Sensing," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M89/117, 1989.

Patents

• R. J. Wood, R. S. Fearing, and J. L. Hickerson, "High performance piezoelectric actuator," U.S. Patent 7,368,860. May 2008. [abstract]
• R. J. Full, R. S. Fearing, T. W. Kenny, and K. Autumn, "Adhesive microstructure and method of forming same," U.S. Patent 7,229,685. June 2007. [abstract]
• S. D. Jones and R. S. Fearing, "Structure having nano-fibers on annular curved surface, method of making same and method of using same to adhere to a surface," U.S. Patent 7,175,723. Feb. 2007.
• R. J. Full, R. S. Fearing, T. W. Kenny, and K. Autumn, "Adhesive microstructure and method of forming same," U.S. Patent 7,011,723. March 2006.
• C. Majidi, R. Groff, and R. S. Fearing, "Nanostructured friction enhancement using fabricated microstructure," U.S. Patent Application. Nov. 2005.
• R. S. Fearing and K. Autumn, "Controlling peel strength of micron-scale structures," U.S. Patent Application. June 2005.
• R. S. Fearing and M. Setti, "Adhesive microstructure and method of forming same," U.S. Patent Application. March 2005.
• R. S. Fearing and M. Sitti, "Adhesive microstructure and method of forming same," U.S. Patent 6,872,439. March 2005.
• R. J. Wood, R. S. Fearing, and J. L. Hickerson, "System and method for constructing and operating a high performance piezoelectric actuator," U.S. Patent Application. Feb. 2005.
• L. Sverduk, R. Sahai, and R. S. Fearing, "Surgical instrument for adhering to tissues," U.S. Patent Application. Oct. 2004.
• R. S. Fearing and E. Shimada, "Apparatus and method for manipulation of an object," U.S. Patent 6,798,120. Sep. 2004.
• R. J. Full, R. S. Fearing, T. W. Kenny, and K. Autumn, "Adhesive microstructure and method of forming same," U.S. Patent 6,737,160. May 2004.

Masters Reports

• J. Karras, "Tactile Sensors for Palm-Size Crawling Robots," R. S. Fearing and R. Bajcsy, Eds., 2013. [abstract]
• C. Rose and R. S. Fearing, "Flight Simulation of an Ornithopter," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2013-60, May 2013. [abstract]
• M. Tayson-Frederick, "Reinforcement Learning Methods to Enable Automatic Tuning of Legged Robots," P. Abbeel and R. S. Fearing, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2012-145, May 2012. [abstract]
• N. Zeitlin, "Reinforcement Learning Methods to Enable Automatic Tuning of Legged Robots," P. Abbeel and R. S. Fearing, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2012-129, May 2012. [abstract]
• F. Garcia Bermudez, "Optical Flow on a Flapping Wing Robot," R. S. Fearing and B. Olshausen, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2010-96, June 2010. [abstract]
• K. Peterson, "Running with Flapping Wings," R. S. Fearing and R. Full, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2010-76, May 2010. [abstract]
• J. P. Entwistle and R. S. Fearing, "Flight Simulation of a 3 gram Autonomous Glider," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2006-80, May 2006. [abstract]