7 accepted papers
This paper presents a robotic gripper design that can perform customizable grasping tasks at the millimeter scale. The design is based on the origami string, a mechanism with a single degree of freedom that can be mechanically programmed to approximate arbitrary paths in space. By using this concept…
This letter presents a self-folding piston-style actuator for flat-foldable robots. Despite the variety of soft and planar actuators used in origami robots, extensional actuators are uncommon because they must resist buckling and bending loads, while soft and planar machines are inherently flexible.
Origami-inspired machines are a promising approach to robotic transformation. In this letter, we present a new method for transformation that uses dynamic response to change the mountain-valley fold pattern. We propose a dynamic model and validate it through experimental characterization of sample m
Self-folding is capable of forming complex three-dimensional structures from planar sheets. However, existing self-folding machines cannot generate large forces or bear high loads. In contrast, traditional robots are expected to operate under large loads but these robots are generally dense, resulti…
Self-folding provides an efficient way of creating complex 3D geometries from 2D composites. However, the precision of self-folding structures is often limited by the use of open-loop folding mechanisms. In this paper we demonstrate feedback-controlled self-folding using a shape memory polymer and o…
Self-folding is a promising technique for assembling robots from flat sheets. However, existing implementations do not include reliable methods for sensing the folding angle, making feedback control impossible. In this paper, we present novel angle sensors for foldable robots and machines. They are…
Self-assembling robots can be transported and deployed inexpensively and autonomously in remote and dangerous environments. In this paper, we introduce a novel self-assembling method with a planar pneumatic system. Inflation of pouches translate into shape changes, turning a sheet of composite mater…