An End-to-End Approach to Self-Folding Origami Structures
Name
tro-sfpipe-final-camera-ready-highlight-2.pdf
Description
Submitted version
Size
3.43 MB
Format
Adobe PDF
Checksum (MD5)
622a1560c0fdda1d22e1b48e8f7f3d9c
Author(s)
An, Byoungkwon
Miyashita, Shuhei
Ong, Aaron
Tolley, Michael T.
Demaine, Martin L
Demaine, Erik D
Wood, Robert J.
Rus, Daniela L
Date Issued
December 2018
Journal
IEEE Transactions on Robotics
Publisher
Institute of Electrical and Electronics Engineers
Citation
An, Byoungkwon et al. "An End-to-End Approach to Self-Folding Origami Structures." IEEE Transactions on Robotics 34, 6 (December 2018): 1409-1424
Version
Original manuscript
Abstract
This paper presents an end-to-end approach to automate the design and fabrication process for self-folding origami structures. Self-folding origami structures are robotic sheets composed of rigid tiles and joint actuators. When they are exposed to heat, each joint folds into a preprogrammed angle. Those folding motions transform themselves into a structure, which can be used as body of 3-D origami robots, including walkers, analog circuits, rotational actuators, and microcell grippers. Given a 3-D model, the design algorithm automatically generates a layout printing design of the sheet form of the structure. The geometric information, such as the fold angles and the folding sequences, is embedded in the sheet design. When the sheet is printed and baked in an oven, the sheet self-folds into the given 3-D model. We discuss, first, the design algorithm generating multiple-step self-folding sheet designs, second, verification of the algorithm running in O(n² ) time, where n is the number of the vertices, third, implementation of the algorithm, and finally, experimental results, several self-folded 3-D structures with up to 55 faces and two sequential folding steps. Keywords: actuators; control engineering computing; design engineering; grippers; mobile robots; shape memory effects; sheet materials; solid modelling; structural engineering computing; multiple-step self-folding sheet designs; sequential folding steps; end-to-end approach; self-folding origami structures; fabrication process; robotic sheets; 3-D origami robots; layout printing design; sheet design; 3D model; walkers; analog circuits; rotational actuators; microcell grippers; Mobile robots; Smart Devices; Actuators; Fabrication; Solid modeling; Three-dimensional displays; Geometry; Three-dimensional printing; Cellular and modular robots; printable origami robots; self-folding; smart actuators
Subjects
Control and Systems Engineering
Electrical and Electronic Engineering
Computer Science Applications
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/tro.2018.2862882
