Thanks for visiting! I direct the Autonomous Insect Robotics Laboratory at the University of Washington, which works to advance insect-scale robotics engineering and better understand the capabilities of insects. We are affiliated with NIFTI and UWIN.
How can you create a fully autonomous robot as small as a fly? This is an open challenge because scaling physics makes traditional approaches impractical. My research takes inspiration from insects to overcome this, producing operational insect-scale prototypes.
| Students interested in research at the intersection of robot design, control, and animal locomotion at insect scale are invited to join the laboratory. Applications are due to the UW Department of Mechanical Engineering (here) in December. Please indicate your interest in my group so I can find your application. Students in Aeronauts & Astronautics, Electrical Engineering, and Computer Science and Engineering are also invited to contact Prof. Fuller. Exceptional candidates seeking external postdoctoral fellowships (e.g. uWIN , NSF PFB, ICPRFP, McDonnell) are welcome to contact Prof. Fuller to discuss opportunities. I may not be able to respond individually to all requests.
Insect-scale robots -- measuring approximately a centimeter across -- have unique capabilities not shared by larger robots. For example, they could deploy in very large swarms or navigate tiny spaces to perform detailed environmental monitoring. But insect scale imposes miniaturization challenges: it is not enough to simply reduce component size. Many conventional robot and aircraft technologies like electric motors, GPS sensing, gliding flight, and even general-purpose microprocessors, cannot operate efficiently or effectively at insect scale. This is because dominant physical effects change as scale reduces. One way to overcome this is to look to solutions used by biology. For example, rather than gliding like birds, flies and bees continually flap their wings as an adaptation to the greater effect of viscous drag at small scale. More than that, insects have superlative capabilities that outclass current robots. Watch as a honeybee navigates to a flower and then deftly lands on it while buffeted by wind -- all of which is orchestrated by a tiny brain. These animals point the way toward future insect robotics that satisfy scaling constraints while navigating with speed and agility through complex, uncertain environments.
The Autonomous Insect Robotics Laboratory takes inspiration from insects to find scale-compatible solutions for centimeter-scale robots. This approach combines experimental study on insects -- whose feedback systems are not well understood -- with at-scale robotic implementations. Basic flight mechanics and simple sensing systems have been demonstrated on insect robot prototypes, but there remain many unsolved problems. In particular, solutions to the following do not yet exist: performing control computations onboard, achieving sensor autonomy (no external sensors), and incorporating the power source onboard. Rivaling the performance of insects remains a distant target. I strongly believe that progress will be fastest by combining forward-engineering in robotics with reverse-engineering in biology. The results will extend beyond insect robots to anywhere there is a need for miniaturized and power-efficient sensing, power-efficient control systems, and more dynamic, robust, and lifelike robots. The effort may also give unique insights into the operation of the brain. Areas of particular interest to me are computation-constrained visual navigation, odor plume localization, and the interplay of control and mechanics.
Outside of this area, my research has produced a frog-inspired hopping rover for interplanetary exploration for NASA with Paolo Fiorini and Joel Burdick and an ink-jet printer that can pattern nerve cells with Sebastian Seung and Shuguang Zhang at MIT. I also built the first ink-jet printer capable of fabricating electronic circuits and and 3D metal machines with Joseph Jacobson, inventor of E-ink electronic paper in the Amazon Kindle. I also have pages about past engineering projects and art.
- A sub-page with a brief background and biography
||Using insect-inspired vision to fly
We mounted a four-pixel sensor inspired by insect ocelli to the top of a fly-sized flying robot. This enabled the first flights at this scale stabilized using feedback only from sensors carried onboard. Without this sensor, the robot quickly tumbles because of dynamic instability.
Fuller, Karpelson, Censi, Ma, and Wood, J. Royal Society Interface, June 2014.
[PDF | video | Press: The Scientist Motherboard Science News]
||Flies sense wind to stabilize flight |
We used cameras to record how fruit flies respond to impulsive wind gusts while in flight. This revealed a multi-sensory mechanism to regulate groundspeed that combines vision and airspeed-sensing antennae.
Fuller, Straw, Peek, Murray, and Dickinson, Proc. Nat. Acad. Sci., April 2014.
[PDF | Press: Phys.org RedOrbit, Caltech News, Homepage PNAS Featured image]
Free-flight of a fly-sized robot |
As aircraft scale diminishes to that of insects, new effects begin to dominate because of scaling physics. We developed unconventional, scale-appropriate fabrication, aerodynamics, actuation, and control technology to realize the first controlled flight of a vehicle the size of a fly.
Ma, Chirarattananon, Fuller, and Wood, Science, May 2013.
video | Press: Wired New York Times Economist]
Biomimetic wind sensing |
A flight-weight sensor (yellow appendage at right) measures airspeed on a fly-sized flapping-wing robot, with Andreas Haggerty.
Fuller, Sands, Haggerty, Karpelson, Ma, and Wood, Int. Conf. on Robotics and Automation, 2013. [PDF]
Computation-limited visual motion control|
Without GPS, tiny aerial vehicles will use vision to navigate confined spaces. Yet vision is typically computation intensive. We showed how a hovercraft robot can visually navigate a narrow corridor using only 20,000 multiply operations per second, compatible with the 10 mW avionics power budget of a fly-sized robot.
Fuller and Murray, Int. Conf. on Robotics and Biomimetics, 2011. [PDF | video]
Ink-jet fabricated micro-machines|
I developed the first ink-jet printer capable of building metal machines. Using a nanoparticle ink, I printed electrostatic motors (above, tip of a mechanical pencil shown for scale), cantilever actuators with hundreds of layers, and a high-conductivity resonant electric coil.
Fuller, Wilhelm, and Jacobson, J. Micro-electromechanical Systems, 2002.
[PDF | video | Press: MIT Technology Review (cover)]