Origami-Inspired Robot That Swims via Jet Propulsion

Yang, Zhiyuan; Chen, Dongsheng; Levine, David J.; Sung, Cynthia

doi:10.1109/lra.2021.3097757

Cited by 23 publications

(5 citation statements)

References 32 publications

(52 reference statements)

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“…To push water out for propulsion, the origami chamber of the soft robot uses a motor to drive the parallel panel and contract the origami body to reduce volume. [ 26 ] A rope‐driven actuation elongates or contracts the origami structure as an air pump. [ 27 ] For working as pure paper robots, the origami structures are made up of soft materials with properties similar to paper.…”

Section: Introductionmentioning

confidence: 99%

Origami‐Patterned Rigidification for Soft Robotic Bifurcation

Liu,

Yang

et al. 2024

Advanced Intelligent Systems

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The fluid‐transportation functions based on the volume‐regulating behavior of the chamber‐like organs inspire the development of artificial organs. Due to the intrinsic compliance of soft robotics for biomimicking purposes and the volume‐regulation capability of the 3D origami patterns, the soft robots with origami patterns show promising potential in such research. However, the folding deformation of the origami facets cannot be straightforwardly implemented as the actuation or the body movement, and the predetermined movements of the pattern limit the appropriate functions for specific applications. In this work, an origami‐patterned rigidification (OPR) method is proposed for applying rigid origami mechanisms (herein, the cuboctahedron origami ball) to the chamber‐like structure of soft robots. The motion of the soft robot is programmed by purposefully rigidified the soft chamber following the pattern. The resultant OPR structures are granted with functions corresponding to the predetermined motion of the pattern, and the expanded movements through the bifurcation brought by the soft–rigid characteristics. The concept, design, and fabrication of the OPR robot are presented. By analyzing the deformation of the soft creases, the kinematic models of the predetermined and expanded degrees of freedom are presented and verified by experiments. The extended functions of two OPR robots are demonstrated.

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Section: Introductionmentioning

confidence: 99%

Origami‐Patterned Rigidification for Soft Robotic Bifurcation

Liu,

Yang

et al. 2024

Advanced Intelligent Systems

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“…Spatial structures inspired from origami have broad applications in the fields of science and engineering because they are complex three-dimensional (3D) structures that are highly portable, reconfigurable, and deployable. These applications include solar arrays (Cai et al, 2021;Karmakar and Mishra, 2022;Li et al, 2022), robotic devices (Chen et al, 2022;Fonseca and Savi, 2020;Robertson et al, 2021;Yang et al, 2021), antennas (Georgakopoulos et al, 2021;Ha et al, 2022;Huang et al, 2022;Zhang et al, 2020), medical devices (Kim et al, 2021(Kim et al, , 2022Li et al, 2019;Zhao et al, 2022), and sensor technology to monitor pollution (Matthew et al, 2022).…”

Section: Introductionmentioning

confidence: 99%

Deployable linear and spiral array structures based on a Kresling-inspired mechanism with integrated scissor arms

Bentley

Harne

2023

Journal of Intelligent Material Systems and Structures

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Recent developments have shown that spatial structures devised from origami or low-dimensional rigid linkage mechanisms can be used to construct deployable arrays for antennas or satellites. Yet, some of these structures are limited to deployment in fixed planes or directions, or do not define straightforward processes for deployment. To surmount these limitations, this research introduces a reconfigurable single-degree-of-freedom spatial structure devised from a Kresling-inspired mechanism with integrated scissor arms. Analytical models are constructed to demonstrate compaction, deployment, and acoustic wave guiding capabilities of the proposed, modular structure. The influences of the geometric parameters on compaction, deployment, and scissor arm orientation are also explored, and reveal modular scissor arm behavior and large deployment-to-compaction area ratios. The acoustic wave guiding capabilities of the Kresling-inspired scissor structure are exemplified via a structure using spiral scissor arms, thereby proposing a novel concept for the construction of deployable wave guiding arrays. Experimental studies with model arrays complement the analytical findings of both the geometric reconfigurations and wave guiding functionality. Finally, out-of-plane configurations are depicted to demonstrate the three-dimensional shape change capabilities of the Kresling-inspired scissor structure. The results in this study encourage broader exploration of the interfaces between origami inspired structures and rigid linkage mechanisms.

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“…Deployable structures inspired from origami have extensive application in science and engineering fields because they are complex three-dimensional (3D) structures that are highly portable and reconfigurable. Researchers in fields such as space exploration, medicine, and robotics have applied origami-inspired deployable structures to solar arrays 1,2 , medical devices 3,4 , and robotic devices 5,6 .…”

Section: Introductionmentioning

confidence: 99%

A novel deployable structure devised from a Kresling-Scissor interface

Bentley

Harne

2023

Behavior and Mechanics of Multifunctional Materials XVII

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Recent developments have shown that spatial structures devised from origami or low-dimensional rigid linkage mechanisms can be used to construct deployable arrays for antennas or satellites. Yet, some of these structures are limited to deploying in fixed planes or directions. This research introduces a reconfigurable single-degree-of-freedom spatial structure devised from a Kresling-inspired mechanism and scissor arms. Analytical models are constructed to demonstrate compaction, deployment, and acoustic wave guiding capabilities of the proposed structure. A case study using the linear scissor arm configuration is presented to illustrate the modular scissor arm behavior and large deployment-to-compaction volume ratio of the system. A second case study is also presented to demonstrate the acoustic wave guiding capabilities of the Kresling-Scissor structure by utilizing spiral scissor arms, thereby proposing a novel concept for constructing deployable spiral wave guiding arrays. The results encourage broader exploration of the interfaces between origami structures and rigid linkage mechanisms.

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Origami-Inspired Robot That Swims via Jet Propulsion

Cited by 23 publications

References 32 publications

Origami‐Patterned Rigidification for Soft Robotic Bifurcation

Origami‐Patterned Rigidification for Soft Robotic Bifurcation

Deployable linear and spiral array structures based on a Kresling-inspired mechanism with integrated scissor arms

A novel deployable structure devised from a Kresling-Scissor interface

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