CREASE Synchronized Gait Through Folded Geometry

CREASE Synchronized Gait Through Folded Geometry

Mesa, Olga; Mhatre, Saurabh; Singh, Malika; Aukes, Dan

Article:

Robotics have expanded exponentially in the last decade. Within the vastexamples of ambulatory robots, traditional legged robots necessitate engineeringexpertise and the use of specialized fabrication technologies. Microelectromechanical (MEM) robots are useful for a wide range of applications yetin most cases, difficult to fabricate and excessively intricate. Advances in pop-uplaminate construction have generated a model shift in the development of robotmorphologies due to their ease of fabrication and scalability from the millimeterto centimeter scale. This research continues to investigate the link betweenkinematics and pop-up origami structures in robotics. The objective was todesign a robot that exhibited efficient and controlled locomotion minimizingnumber of motors. ``Crease'', an origami robot that emerges from atwo-dimensional sheet into its three-dimensional configuration was developed.By amplifying a simple rotational motion through the geometry of folds in therobot, a complex gait was achieved with minimal motorized actuation. Variationsin gait, control, and steering were studied through physical and computationalmodels. Untethered Creases that sense their environment and steer accordinglywere developed. This research contributes not only to the field of robotics butalso to design where efficiency, adjustability and ease of fabrication are critical.

Robotics have expanded exponentially in the last decade. Within the vastexamples of ambulatory robots, traditional legged robots necessitate engineeringexpertise and the use of specialized fabrication technologies. Microelectromechanical (MEM) robots are useful for a wide range of applications yetin most cases, difficult to fabricate and excessively intricate. Advances in pop-uplaminate construction have generated a model shift in the development of robotmorphologies due to their ease of fabrication and scalability from the millimeterto centimeter scale. This research continues to investigate the link betweenkinematics and pop-up origami structures in robotics. The objective was todesign a robot that exhibited efficient and controlled locomotion minimizingnumber of motors. ``Crease'', an origami robot that emerges from atwo-dimensional sheet into its three-dimensional configuration was developed.By amplifying a simple rotational motion through the geometry of folds in therobot, a complex gait was achieved with minimal motorized actuation. Variationsin gait, control, and steering were studied through physical and computationalmodels. Untethered Creases that sense their environment and steer accordinglywere developed. This research contributes not only to the field of robotics butalso to design where efficiency, adjustability and ease of fabrication are critical.

Palavras-chave:

DOI: 10.5151/proceedings-ecaadesigradi2019_541

Referências bibliográficas

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Como citar:

Mesa, Olga; Mhatre, Saurabh; Singh, Malika; Aukes, Dan; "CREASE Synchronized Gait Through Folded Geometry", p-197-206. In: Proceedings of 37 eCAADe and XXIII SIGraDi Joint Conference, “Architecture in the Age of the 4Th Industrial Revolution”, Porto 2019, Sousa, José Pedro; Henriques, Gonçalo Castro; Xavier, João Pedro (eds.). São Paulo: Blucher, 2019.
ISSN 23186968, DOI 10.5151/proceedings-ecaadesigradi2019_541