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dc.contributor.authorAn, Byoung Kwon
dc.contributor.authorBenbernou, Nadia M.
dc.contributor.authorDemaine, Erik D.
dc.contributor.authorRus, Daniela L.
dc.date.accessioned2011-03-28T21:09:30Z
dc.date.available2011-03-28T21:09:30Z
dc.date.issued2011-01
dc.date.submitted2010-11
dc.identifier.issn0263-5747
dc.identifier.issn1469-8668
dc.identifier.urihttp://hdl.handle.net/1721.1/61986
dc.description.abstractThis paper considers planning and control algorithms that enable a programmable sheet to realize different shapes by autonomous folding. Prior work on self-reconfiguring machines has considered modular systems in which independent units coordinate with their neighbors to realize a desired shape. A key limitation in these prior systems is the typically many operations to make and break connections with neighbors, which lead to brittle performance. We seek to mitigate these difficulties through the unique concept of self-folding origami with a universal fixed set of hinges. This approach exploits a single sheet composed of interconnected triangular sections. The sheet is able to fold into a set of predetermined shapes using embedded actuation. We describe the planning algorithms underlying these self-folding sheets, forming a new family of reconfigurable robots that fold themselves into origami by actuating edges to fold by desired angles at desired times. Given a flat sheet, the set of hinges, and a desired folded state for the sheet, the algorithms (1) plan a continuous folding motion into the desired state, (2) discretize this motion into a practicable sequence of phases, (3) overlay these patterns and factor the steps into a minimum set of groups, and (4) automatically plan the location of actuators and threads on the sheet for implementing the shape-formation control.en_US
dc.description.sponsorshipUnited States. Defense Advanced Research Projects Agency. Programmable Matter Programen_US
dc.language.isoen_US
dc.publisherCambridge University Pressen_US
dc.relation.isversionofhttp://dx.doi.org/10.1017/S0263574710000731en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alike 3.0en_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/en_US
dc.sourceMIT web domainen_US
dc.titlePlanning to fold multiple objects from a single self-folding sheeten_US
dc.typeArticleen_US
dc.identifier.citationAn, Byoungkwon et al. “Planning To Fold Multiple Objects From a Single Self-folding Sheet.” Robotica 29.01 (2011) : 87-102. Copyright © Cambridge University Press 2011en_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mathematicsen_US
dc.contributor.approverDemaine, Erik D.
dc.contributor.mitauthorAn, Byoung Kwon
dc.contributor.mitauthorBenbernou, Nadia M.
dc.contributor.mitauthorDemaine, Erik D.
dc.contributor.mitauthorRus, Daniela L.
dc.relation.journalRoboticaen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dspace.orderedauthorsAn, Byoungkwon; Benbernou, Nadia; Demaine, Erik D.; Rus, Danielaen
dc.identifier.orcidhttps://orcid.org/0000-0003-3803-5703
dc.identifier.orcidhttps://orcid.org/0000-0001-5473-3566
mit.licenseOPEN_ACCESS_POLICYen_US


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