Abstract:In this study, we proposed an origami pump actuator based pneumatic quadruped robot (OPARO). The robot was constructed with a four-leg system controlled by only two motors. Specifically, the forelegs and hindlegs are pneumatically coupled to operate simultaneously with a tendon-driven system. The forelegs simultaneously performs pumping and actuating to supply air to the hindlegs, and the hindlegs are passively actuated by the air supply from the forelegs. We conducted a series of experiments to evaluate the m… Show more
“…An actual demonstration of the operation of a KOS as a linear displacement pump was performed by Lee et al [118], where they used the pump to drive a soft pneumatic actuator (figure 27(b)). Another work carried out by Kim et al [117,182] integrated the pump operation of the KOS with a robotic system. They proposed and evaluated a novel origami-based self-supplying pneumatic quadruped robot (figure 27(c)), which has a four-leg system controlled by two motors.…”
Structures inspired by the Kresling origami pattern have recently emerged as a foundation for building functional engineering
systems with versatile characteristics that target niche applications spanning different technological fields. Their light weight,
deployability, modularity, and customizability are a few of the key characteristics that continue to drive their implementation
in robotics, aerospace structures, metamaterial and sensor design, switching, actuation, energy harvesting and absorption,
and wireless communications, among many other examples. This work aims to perform a systematic review of the literature
to assess the potential of the Kresling origami springs as a structural component for engineering design keeping three
objectives in mind: i) facilitating future research by summarizing and categorizing the current literature, ii) identifying the current
shortcomings and voids, and iii) proposing directions for future research to fill those voids.
“…An actual demonstration of the operation of a KOS as a linear displacement pump was performed by Lee et al [118], where they used the pump to drive a soft pneumatic actuator (figure 27(b)). Another work carried out by Kim et al [117,182] integrated the pump operation of the KOS with a robotic system. They proposed and evaluated a novel origami-based self-supplying pneumatic quadruped robot (figure 27(c)), which has a four-leg system controlled by two motors.…”
Structures inspired by the Kresling origami pattern have recently emerged as a foundation for building functional engineering
systems with versatile characteristics that target niche applications spanning different technological fields. Their light weight,
deployability, modularity, and customizability are a few of the key characteristics that continue to drive their implementation
in robotics, aerospace structures, metamaterial and sensor design, switching, actuation, energy harvesting and absorption,
and wireless communications, among many other examples. This work aims to perform a systematic review of the literature
to assess the potential of the Kresling origami springs as a structural component for engineering design keeping three
objectives in mind: i) facilitating future research by summarizing and categorizing the current literature, ii) identifying the current
shortcomings and voids, and iii) proposing directions for future research to fill those voids.
Time-dependent shape-transferable soft robots are important for various intelligent applications in flexible electronics and bionics. Four-dimensional (4D) shape changes can offer versatile functional advantages during operations to soft robots that respond to external environmental stimuli, including heat, pH, light, electric, or pneumatic triggers. This review investigates the current advances in multiscale soft robots that can display 4D shape transformations. This review first focuses on material selection to demonstrate 4D origami-driven shape transformations. Second, this review investigates versatile fabrication strategies to form the 4D mechanical structures of soft robots. Third, this review surveys the folding, rolling, bending, and wrinkling mechanisms of soft robots during operation. Fourth, this review highlights the diverse applications of 4D origami-driven soft robots in actuators, sensors, and bionics. Finally, perspectives on future directions and challenges in the development of intelligent soft robots in real operational environments are discussed.
“…There has been some work on multi-legged soft or compliant robots [see Zhang et al (2021) ; Kim et al (2021) ]. Perhaps the paper most similar to our work uses an evolutionary algorithm to optimize the shape of a soft robot leg [see Morzadec et al (2019) ].…”
Legged robots have the potential to cover terrain not accessible to wheel-based robots and vehicles. This makes them better suited to perform tasks such as search and rescue in real-world unstructured environments. In addition, pneumatically-actuated, compliant robots may be more suited than their rigid counterparts to real-world unstructured environments with humans where unintentional contact or impact may occur. In this work, we define design metrics for legged robots that evaluate their ability to traverse unstructured terrain, carry payloads, find stable footholds, and move in desired directions. These metrics are demonstrated and validated in a multi-objective design optimization of 10 variables for a 16 degree of freedom, pneumatically actuated, continuum joint quadruped. We also present and validate approximations to preserve numerical tractability for any similar high degree of freedom optimization problem. Finally, we show that the design trends uncovered by our optimization hold in two hardware experiments using robot legs with continuum joints that are built based on the optimization results.
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