Integrated Codesign of Printable Robots
Name
jmr_007_02_021015.pdf
Description
Published version
Size
2.93 MB
Format
Adobe PDF
Checksum (MD5)
852f54ceafe915590cf0564eb15fcd2a
Author(s)
Mehta, Ankur
DelPreto, Joseph
Rus, Daniela
Date Issued
2015
Journal
Journal of Mechanisms and Robotics
Publisher
ASME International
Citation
Mehta, A., J. Del Preto, and D. Rus. "Integrated Codesign of Printable Robots." Journal of Mechanisms and Robotics 7 2 (2015).
Version
Final published version
Abstract
© 2015 by ASME. This work presents a system by which users can easily create printable origami-inspired robots from high-level structural specifications. Starting from a library of basic mechanical, electrical, and software building blocks, users can hierarchically assemble integrated electromechanical components and programmed mechanisms. The system compiles those designs to cogenerate complete fabricable outputs: mechanical drawings suitable for direct manufacture, wiring instructions for electronic devices, and firmware and user interface (UI) software to control the final robot autonomously or from human input. This process allows everyday users to create on-demand custom printable robots for personal use, without the requisite engineering background, design tools, and cycle time typical of the process today. This paper describes the system and its use, demonstrating its abilities and versatility through the design of several disparate robots.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1115/1.4029496
