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A Modular Folded Laminate Robot Capable of Multi Modal Locomotion
Name
ISER2016_FlyingMonkey.pdf
Description
Accepted version
Size
11.23 MB
Format
Adobe PDF
Checksum (MD5)
270c71b87a427f292a7e529deb6ebb88
Author(s)
Koh, Je-sung
Aukes, Daniel M.
Araki, Brandon
Pohorecky, Sarah
Mulgaonkar, Yash
Tolley, Michael T.
Kumar, Vijay
Rus, Daniela
Wood, Robert J.
Date Issued
2017
Publisher
Springer International Publishing
Citation
Koh, Je-sung, Aukes, Daniel M., Araki, Brandon, Pohorecky, Sarah, Mulgaonkar, Yash et al. 2017. "A Modular Folded Laminate Robot Capable of Multi Modal Locomotion."
Version
Author's final manuscript
Abstract
This paper describes fundamental principles for two-dimensional pattern design of folded robots, specifically mobile robots consisting of closed-loop kinematic linkage mechanisms. Three fundamental methods for designing closed-chain folded four-bar linkages – the basic building block of these devices – are introduced. Modular connection strategies are also introduced as a method to overcome the challenges of designing assemblies of linkages from a two-dimensional sheet. The result is a design process that explores the tradeoffs between the complexity of linkage fabrication and also allows the designer combine multiple functions or modes of locomotion. A redesigned modular robot capable of multi-modal locomotion and grasping is presented to embody these design principles.
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
10.1007/978-3-319-50115-4_6
