Interactive robogami: An end-to-end system for design of robots with ground locomotion
Name
robogami_0.pdf
Description
Accepted version
Size
7.52 MB
Format
Adobe PDF
Checksum (MD5)
c85eb535a677be8693e5f4a85debe23e
Author(s)
Schulz, Adriana
Sung, Cynthia
Spielberg, Andrew
Zhao, Wei
Cheng, Robin
Grinspun, Eitan
Rus, Daniela
Matusik, Wojciech
Date Issued
2017
Journal
International Journal of Robotics Research
Publisher
SAGE Publications
Version
Author's final manuscript
Abstract
© The Author(s) 2017. This paper aims to democratize the design and fabrication of robots, enabling people of all skill levels to make robots without needing expert domain knowledge. Existing work in computational design and rapid fabrication has explored this question of customization for physical objects but so far has not been able to conquer the complexity of robot designs. We have developed Interactive Robogami, a tool for composition-based design of ground robots that can be fabricated as flat sheets and then folded into 3D structures. This rapid prototyping process enables users to create lightweight, affordable, and materially versatile robots with short turnaround time. Using Interactive Robogami, designers can compose new robot designs from a database of print-and-fold parts. The designs are tested for the users' functional specifications via simulation and fabricated on user satisfaction. We present six robots designed and fabricated using a 3D printing based approach, as well as a larger robot cut from sheet metal. We have also conducted a user study that demonstrates that our tool is intuitive for novice designers and expressive enough to create a wide variety of ground robot designs.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1177/0278364917723465
