Robotic metamorphosis by origami exoskeletons
Name
201709ScienceRobotics_Full_SM_MiyashitaEtAl_Preprint.pdf
Description
Accepted version
Size
1.02 MB
Format
Adobe PDF
Checksum (MD5)
eb75aca311ade6e249fa6f7194d3d39f
Author(s)
Miyashita, Shuhei
Guitron, Steven P.
Li, Shuguang
Rus, Daniela L
Date Issued
September 27, 2017
Journal
Science Robotics
Publisher
American Association for the Advancement of Science
Citation
Miyashita, Shuhei et al. "Robotic metamorphosis by origami exoskeletons." Science Robotics, 2, 10 (27 September 2017): eaao4369
Version
Author's final manuscript
Abstract
Changing the inherent physical capabilities of robots by metamorphosis has been a long-standing goal of engineers. However, this task is challenging because of physical constraints in the robot body, each component of which has a defined functionality. To date, self-reconfiguring robots have limitations in their on-site extensibility because of the large scale of today’s unit modules and the complex administration of their coordination, which relies heavily on on-board electronic components. We present an approach to extending and changing the capabilities of a robot by enabling metamorphosis using self-folding origami “exoskeletons.” We show how a cubical magnet “robot” can be remotely moved using a controllable magnetic field and hierarchically develop different morphologies by interfacing with different origami exoskeletons. Activated by heat, each exoskeleton is self-folded from a rectangular sheet, extending the capabilities of the initial robot, such as enabling the manipulation of objects or locomotion on the ground, water, or air. Activated by water, the exoskeletons can be removed and are interchangeable. Thus, the system represents an end-to-end (re)cycle. We also present several robot and exoskeleton designs, devices, and experiments with robot metamorphosis using exoskeletons.
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/10.1126/scirobotics.aao4369
