A Modular Folded Laminate Robot Capable of Multi Modal Locomotion
Author(s)
Koh, Je-sung; Aukes, Daniel M.; Araki, Minoru Brandon; Pohorecky, Sarah; Mulgaonkar, Yash; Tolley, Michael T.; Kumar, Vijay; Rus, Daniela L; Wood, Robert J.; ... Show more Show less
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This paper describes fundamental principles for two-dimensional pattern design of folded robots, specifically mobile robots consisting of closed-loop kinematic linkage mechanisms. Three fundamental methods for designing closed-chain folded four-bar linkages – the basic building block of these devices – are introduced. Modular connection strategies are also introduced as a method to overcome the challenges of designing assemblies of linkages from a two-dimensional sheet. The result is a design process that explores the tradeoffs between the complexity of linkage fabrication and also allows the designer combine multiple functions or modes of locomotion. A redesigned modular robot capable of multi-modal locomotion and grasping is presented to embody these design principles.
Date issued
2017Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence LaboratoryPublisher
Springer International Publishing
Citation
Koh, Je-sung, Aukes, Daniel M., Araki, Brandon, Pohorecky, Sarah, Mulgaonkar, Yash et al. 2017. "A Modular Folded Laminate Robot Capable of Multi Modal Locomotion."
Version: Author's final manuscript
ISSN
2511-1256
2511-1264