Michael T. Tolley, Ph.D.

Postdoctoral Associate
Harvard Microrobotics Laboratory
Wyss Institute for Biologically Inspired Engineering, Harvard University


 Publications 

On this page:

Journal Publications

Conference Publications

Workshop Papers

Dissertations

Book Chapters

Art Exhibitions

Refereed Journal Publications

Felton S. M., Tolley M. T., Shin B.H., Demaine E., Rus D., Wood R. J. (2014) “A Method for Building Self-Assembling Machines”, Science, 345:6197, pp. 644-646.

Tolley M. T., Shepherd R. F., Mosadegh B., Galloway K. C., Wehner M., Karpelson M., Wood R. J., Whitesides G. M. (2014) “A Resilient, Untethered Soft Robot”, Soft Robotics, 1:3, pp. 213-223.

Tolley M. T., Felton S. M., Miyashita S., Aukes D., Rus D., Wood R. J. (2014) “Self-folding origami: shape memory composites activated by uniform heating”, Smart Materials and Structures, 23:9, 094006.

Miyashita S., Meeker L., Tolley M. T., Wood R. J., Rus D. (2014) “Self-Folding Miniature Elastic Electric Devices”, Smart Materials and Structures, 23:9, 094005.

Felton S. M., Tolley M. T., Shin B.H., Onal C. D., Demaine E., Rus D., Wood R. J. (2013) “Self-folding with shape memory composites”, Soft Matter, 9, pp. 7688-7694. (Cover article)

Tolley M. T., Lipson H. (2011) “On-line Assembly Planning for Stochastically Reconfigurable Systems”, International Journal of Robotics Research, 30:13, pp. 1566 - 1584.

Kalontarov M., Tolley M. T., Lipson H., Erickson D. (2010) “Hydrodynamically Driven Docking of Blocks for 3D Fluidic Assembly”, Microfluidics and Nanofluidics, 9, pp. 551–558.

Tolley M. T., Kalontarov M., Neubert J., Erickson D., Lipson H. (2010) “Stochastic Modular Robotic Systems: A Study of Fluidic Assembly Strategies”, IEEE Transactions on Robotics, 26, pp. 518-530.

Krishnan M., Tolley M. T., Lipson H., Erickson D. (2009) Hydrodynamically Tunable Fluidic Affinities for Fluidic Assembly”, Langmuir, 25, pp. 3769-3774.

Tolley M. T., Krishnan M., Erickson D., Lipson H. (2008) “Dynamically Programmable Fluidic Assembly”, Applied Physics Letters, 93, 254105. (Also appeared in Virtual Journal of Nanoscale Science & Technology, vol. 19, 2.)

Krishnan M., Tolley M. T., Lipson H., Erickson D. (2008) “Increased Robustness for Fluidic Self Assembly”, Physics of Fluids, 20, 073304. (Also appeared in Virtual Journal of Nanoscale Science & Technology, vol. 18, 5.)

Refereed Conference Publications

Tolley M. T., Shepherd R. F., Karpelson M., Bartlett N. W., Galloway K. C., Wehner M., Nunes R., Whitesides G. M., Wood R. J. (2014) “An untethered jumping soft robot”, Int. Conf. on Intelligent Robots and Systems (IROS), Chicago, IL, Sept. 2014, pp. 561-566. (JTCF Novel Technology Award Finalist)

Stergiopulos C., Vogt D., Tolley M. T., Wehner M., Barber J., Whitesides G. M., Wood R. J.(2014) “A soft combustion-driven pump for soft robots”, ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Newport, RI, Sept. 2014.

Felton S. M., Tolley M. T., Wood R. J. (2014) “Mechanically Programmed Self-Assembly at the Millimeter Scale”, Int. Conf. on Automation Science and Engineering (CASE), Taipei, Taiwan, Aug. 2014, pp. 1232-1237.

Shin B.H., Felton S. M., Tolley M. T., Wood R. J. (2014) “Self-Assembling Sensors for Printable Machines”, Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, May 2014, pp. 4417-4422.

An B., Miyashita S., Tolley M. T., Aukes D. M., Meeker L., Demaine E. D., Demaine M. L., Wood R. J., Rus D. (2014) “An End-to-End Approach to Making Self-Folded 3D Surface Shapes by Uniform Heating”, Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, May 2014, pp. 1466-1473.

Napp N., Araki B., Tolley M. T., Nagpal R., Wood R. J. (2014) “Simple Passive Valves for Addressable Pneumatic Actuation”, Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, May 2014, pp. 1440-1445.

Tolley M. T., Felton S. M., Miyashita S., Xu L., Shin B.H., Zhou M., Rus D., Wood R. J. (2013) “Self-Folding Shape Memory Laminates for Automated Fabrication”, Int. Conf. on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 2013, pp. 4931-4936.

Felton S. M., Tolley M. T., Onal C. D., Rus D., Wood R. J. (2013) “Robot Self-Assembly by Folding: A Printed Inchworm Robot”, Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013, pp. 277-282.

Tolley, M. T., Lipson, H. (2011) “Programmable 3D Stochastic Fluidic Assembly of cm-Scale Modules”, IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2011), San Francisco CA, September 2011, pp. 4366-4371.

Tolley, M. T., Lipson, H. (2010) “Fluidic Manipulation for Scalable Stochastic 3D Assembly of Modular Robots”, Int. Conf. on Robotics and Automation (ICRA), Anchorage AK, May 2010, pp. 2473-2478.

Krishnan M., Tolley M. T., Lipson H., Erickson D. (2008) “Dynamically Tunable Affinities for Fluidic Self Assembly”, Am. Inst. of Chem. Engineers (AICHE) Annual Meeting, Philadelphia PA, November 2008, 485e.

Tolley M. T., Krishnan M., Lipson H., Erickson D. (2008) “Advances Towards Programmable Matter”, Int. Conf. Miniaturized Systems for Chemistry and Life Sciences (MicroTAS), San Diego CA, October 2008, pp. 653-655.

Chung M., Malone E., Tolley M. T., Chepaitis A. J., Lipson H. (2008) “Object Augmentation for the Visually Impaired Using RP”, Solid Freeform Fabrication Symp. (SFF), Austin TX, August 2008.

Tolley M. T., Baisch A., Krishnan M., Erickson D., Lipson H. (2008) “Interfacing Methods for Fluidically-Assembled Microcomponents”, IEEE Int. Conf. Micro Electro Mechanical Systems (MEMS), Tucson AZ, January 2008, pp. 1073-1076.

Krishnan M., Tolley M. T., Lipson H., Erickson D. (2007) “Directed Hierarchical Self Assembly - Active Fluid Mechanics at the Micro and Nanoscales”, ASME Int. Mechanical Engineering Cong. and Expo. (IMECE), Seattle WA, November 2007. (Winner of Best Presentation award)

Tolley M. T., Zykov V., Lipson H., Erickson D. (2006) “Directed Fluidic Self-Assembly of Microscale Tiles”, Int. Conf. Miniaturized Systems for Chemistry and Life Sciences (MicroTAS), Tokyo Japan, October 2006, pp. 1552-1554.

Other Conference and Workshop Papers

Tolley, M. T., Felton S. M., Miyashita S., Xu L., Shin B.H., Rus D., Wood R. J. (2013) “Low-Cost Self-Folding Shape Memory Polymer Laminates”, ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Snowbird UT, September 2013.

Tolley, M. T., Onal, C. D., Wood, R. J., Rus, D., “Morphological Computation in an Origami-Inspired Folded Gripper”, Int. Workshop on Soft Robotics and Morphological Computation, Ascona, Switzerland, July 2013.

Tolley, M. T., Felton S. M., Miyashita S., Xu L., Shin B.H., Rus D., Wood R. J. (2013) “Approaches To Origami-Inspired Self-Folding Of Printable Robots”, Int. Conf. on Robotics and Automation (ICRA) workshop: The Different Sizes of Small-Scale Robotics: from Nano- to Millimeter-Sized Robotic Systems and Applications, Karlsruhe, Germany, May 2013.

Onal C. D., Tolley, M. T., Koyanagi K., Wood R. J., Rus D. (2012) “Shape Memory Alloy Actuation Of A Folded Bio-Inspired Hexapod”, Int. Conf. on Intelligent Robots and Systems workshop: Smart Materials and Alternative Technologies for Bio-Inspired Robots and Systems (ATBio), Vilamoura, Portugal October, 2012.

Tolley, M. T., Lipson, H. (2010) “Three Dimensional Stochastic Fluidic Assembly of Minimalistic Modules”, McGill Centre for Intelligent Machines Symp. on Brain, Body, and Machine, Montreal QC, November 2010, pp. 2473-2478.

Tolley, M. T., Hiller, J., Lipson, H. (2009) "Evolutionary Design and Assembly Planning for Stochastic Modular Robots", Int. Conf. on Intelligent Robots and Systems (IROS), Exploring New Horizons in Evolutionary Design of Robots Workshop, St. Louis MO, October 2009, pp. 73-78.

Tolley M. T., Erickson D., Lipson H. (2009) “Fluidic Assembly of Programmable Matter”, Cornell Engineering Research Conference (CERC), Ithaca NY, April 2009.

Tolley M. T., Krishnan M., Erickson D., Lipson H. (2008) “Approaches to dynamically programmable self-assembly”, Proceedings of Foundations of Nanoscience (FNANO), Snowbird, UT, April 2008.

Theses and Dissertations

Tolley, M. T. (2010) “Programmable Stochastic Assembly of Microscale Components”, Doctoral Dissertation, A dissertation presented to the faculty of the Graduate School of Cornell University in partial fulfillment of the requirements for the Degree of Doctor of Philosophy, Cornell University, Ithaca, USA.

Tolley, M. T. (2005) “Behaviour development for a hybrid quadrupedal robot”, Honours Thesis, McGill University, Montreal QC, Canada.

Book Chapters

Tolley, M. T., Hiller, J., Lipson, H. (2010) "Evolutionary Design and Assembly Planning for Stochastic Modular Robots", in Bredeche N., Doncieux S. and Mouret J.-B. (Eds.), New Horizons in Evolutionary Robotics: post-proceedings of the 2010 EvoDeRob workshop (in press). Berlin, Germany: Springer.

Patents

Onal C. D., Tolley, M. T., Wood R. J., Rus D. (2012) “Foldable machines”, U.S. Patent App. Nos. 61/702040, 13/723364, filed 2012.

Art Exhibitions

“Self-folding origami inspired robots” with Cagdas Onal, Samuel Felton, Robert Wood and Daniela Rus

Designers’ Open, Design Festival, Leipzig Germany, October 2013.

Tortua" collaboration with Rebekah Tolley and Eric Leanardson

Science as Art, Caldwell Arts Council Gallery, Lenoir NC, August 2013

Tortua, Eli Marsh Gallery, Amherst College, Amherst MA, March 2013

"Digital Matter” by Joris Laarman (stochastic fluidic assembly work featured)

Modern by Design, High Museum of Art, Atlanta GA, June-August 2011.