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dc.contributor.authorSung, Cynthia
dc.contributor.authorRus, Daniela
dc.date.accessioned2021-10-27T19:52:12Z
dc.date.available2021-10-27T19:52:12Z
dc.date.issued2015
dc.identifier.urihttps://hdl.handle.net/1721.1/133336
dc.description.abstractPrint-and-fold manufacturing has the potential to democratize access to robots with robots that are easier to fabricate using materials that are easier to procure. Unfortunately, a lack of understanding about how motion can be achieved by folding hinders the scope of print-and-fold robots. In this paper, we show how the basic joints used in robots can be constructed using print-and-fold. Our patterns are parameterized so that users not only get the desired degrees of freedom but can also specify the joint's range of motion. The joints can be combined with each other to achieve higher degrees of freedom or with rigid bodies to produce foldable linkages. We have folded our basic joints and measured their force-displacement curves. We have composed them into joints with higher degrees of freedom and into foldable mechanisms and found that they achieve the expected kinematics. We have also added actuators and control circuitry to our joints and mechanisms, showing that it is possible to print and fold entire robots with many different kinematics using a uniform process.
dc.language.isoen
dc.publisherASME International
dc.relation.isversionof10.1115/1.4029490
dc.rightsArticle 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.
dc.sourceASME
dc.titleFoldable Joints for Foldable Robots
dc.typeArticle
dc.identifier.citationSung, C., and D. Rus. "Foldable Joints for Foldable Robots." Journal of Mechanisms and Robotics 7 2 (2015).
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
dc.relation.journalJournal of Mechanisms and Robotics
dc.eprint.versionFinal published version
dc.type.urihttp://purl.org/eprint/type/JournalArticle
eprint.statushttp://purl.org/eprint/status/PeerReviewed
dc.date.updated2019-07-17T12:52:06Z
dspace.orderedauthorsSung, C; Rus, D
dspace.date.submission2019-07-17T12:52:07Z
mit.journal.volume7
mit.journal.issue2
mit.metadata.statusAuthority Work and Publication Information Needed


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