MIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

An end-to-end system for designing mechanical structures for print-and-fold robots

Author(s)
Mehta, Ankur M.; Rus, Daniela L.
Thumbnail
DownloadRus_An end-to-end.pdf (1.870Mb)
OPEN_ACCESS_POLICY

Open Access Policy

Creative Commons Attribution-Noncommercial-Share Alike

Terms of use
Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/
Metadata
Show full item record
Abstract
This work presents a script-based development environment aimed at allowing users to easily design and create mechanical bodies for folded plastic robots. The origami-inspired fabrication process is inexpensive and widely accessible, and the tools developed in this work allow for open source design sharing and modular reuse. Designs are generated by recursively combining mechanical components - from primitive building blocks, through mechanisms and assemblies, to full robots - in a flexible yet well-defined manner. This process was used to design robotic elements of increasing complexity up to a multi-degree-of-freedom compliant manipulator arm, demonstrating the power of this system. The developed system is extensible, opening avenues for further research ultimately leading to the development of a complete robot compiler.
Date issued
2014-05
URI
http://hdl.handle.net/1721.1/101034
Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Journal
Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Mehta, Ankur M., and Daniela Rus. “An End-to-End System for Designing Mechanical Structures for Print-and-Fold Robots.” 2014 IEEE International Conference on Robotics and Automation (ICRA) (May 2014).
Version: Original manuscript
ISBN
978-1-4799-3685-4

Collections
  • MIT Open Access Articles

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries
PrivacyPermissionsAccessibilityContact us
MIT
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.