Towards printable robotics: Origami-inspired planar fabrication of three-dimensional mechanisms
Name
Rus_Towards printable.pdf
Size
1.14 MB
Format
Adobe PDF
Checksum (MD5)
bd2ac1a827e73625ccd451060ed41f4d
Author(s)
Onal, Cagdas
Wood, Robert J.
Rus, Daniela L.
Date Issued
May 2011
Journal
Proceedings of the 2011 IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Onal, Cagdas D., Robert J. Wood, and Daniela Rus. “Towards Printable Robotics: Origami-Inspired Planar Fabrication of Three-Dimensional Mechanisms.” 2011 IEEE International Conference on Robotics and Automation (May 2011).
Version
Author's final manuscript
Abstract
This work presents a technique which allows the application of 2-D fabrication methods to build 3-D robotic systems. The ability to print robots introduces a fast and low-cost fabrication method to modern, real-world robotic applications. To this end, we employ laser-engraved origami patterns to build a new class of robotic systems for mobility and manipulation. Origami is suitable for printable robotics as it uses only a flat sheet as the base structure for building complicated functional shapes, which can be utilized as robot bodies. An arbitrarily complex folding pattern can be used to yield an array of functionalities, in the form of actuated hinges or active spring elements. For actuation, we use compact NiTi coil actuators placed on the body to move parts of the structure on-demand. We demonstrate, as a proof-of-concept case study, the end-to-end fabrication and assembly of a simple mobile robot that can undergo worm-like peristaltic locomotion.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. School of Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2011.5980139
