Abstract:This paper presents the design, control system, and elastic behavior of ELAbot: a robotic bending active textile hybrid (BATH) structure that can self-form and transform. In BATH structures, equilibrium emerges from interaction between tensile (form active) and elastically bent (bending active) elements (Ahlquist and Menges 2013;Lienhard et al. 2012). The integration of a BATH structure with a robotic actuation system that controls global deformations enables the structure to self-deploy and achieve multiple t… Show more
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