The Deformable Wheel Robot Using Magic-Ball Origami Structure

Lee, Dae-Young; Kim, Ji-Suk; Kim, Sa-Reum; Koh, Je‐Sung; Cho, Kyu-Jin

doi:10.1115/detc2013-13016

Cited by 67 publications

(49 citation statements)

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“…Firstly, the folding pattern allows the cage to be rigid in the deployed configuration, thus ensuring stability during flight. Other origami structures, such as the "magic ball" [17][18], can be squeezed in the deployed configuration. Secondly, the modular structure enables control of the spatial density of the cage.…”

Section: Conceptmentioning

confidence: 99%

An origami-inspired cargo drone

Kornatowski

Mintchev

Floreano

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Multicopters stand to revolutionize parcel delivery because of their capability to operate in areas with unsuitable road infrastructure and precisely maneuver in cluttered environments. However, current multicopters for delivery can be dangerous for people, and are difficult to store and transport. Safety issues arise because users are exposed to unshielded spinning propellers. Transportation to the place of deployment and storage is often impaired by the large size that is required for heavy lifting. This paper addresses these limitations by proposing the integration of a quadcopter into a foldable protective cage. The cage provides an all-round protective structure that physically separates the propellers from the environment, ensuring the safety of people. The drone and the cage can be easily folded with a single movement, significantly reducing its size for ease of storage and transportation. This design has been validated with a quadcopter that can lift parcels up to 500 g and reduce its storage volume by 92% when folded.

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Section: Conceptmentioning

confidence: 99%

An origami-inspired cargo drone

Kornatowski

Mintchev

Floreano

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…The core technologies of each of these components have been studied and researched for many years in several different robots from our laboratory: the transformable wheel structure (Lee et al, 2013a(Lee et al, , 2014, pattern-embedded composite technology (Lee et al, 2013b), the polymer fabrication process (Huh et al, 2012;Kang et al, 2016), and the tendon routing system Kang et al, 2016). By combining technologies, expanding their size, developing a new embedding fabrication process, and integrating components, we developed SNUMAX within the rules of the RoboSoft Grand Challenge.…”

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confidence: 99%

Development of a Multi-functional Soft Robot (SNUMAX) and Performance in RoboSoft Grand Challenge

et al. 2016

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This paper introduces SNUMAX, the grand winner of the RoboSoft Grand Challenge. SNUMAX was built to complete all the tasks of the challenge. Completing these tasks required robotic compliant components that could adapt to variable situations and environments and generate enough stiffness to maintain performance. SNUMAX has three key components: transformable origami wheels, a polymer-based variable stiffness manipulator, and an adaptive caging gripper. This paper describes the design of these components, and how they worked together to allow the robot to perform the contest's navigation and manipulation tasks.

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“…1). Those patterns that can achieve more complex motion [6][7][8] do not translate well to general robot design. Theoretical work on designing folded structures (see [9] for a review) mostly focuses on producing rigid structures rather than transformable structures, and although transformable folded structures were analyzed theoretically in [10][11][12], the resulting fold patterns are again application-specific.…”

Section: Introductionmentioning

confidence: 99%

“…Although many designs have been developed and tested [3][4][5][6][7][8], most designs are restricted to contain single degree-of-freedom (DOF) hinge-like joints achievable by a single fold (ref. Fig.…”

Section: Introductionmentioning

confidence: 99%

Foldable Joints for Foldable Robots

Sung

Rus

2015

Experimental Robotics

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Abstract. Print-and-fold approaches to robot fabrication allow entire robots to be produced using a single uniform process: fabricating them in-plane and then folding them into their 3-D forms. Current efforts to design print-and-fold robots have been limited by a lack of understanding of what motions can be achieved by folding. In this paper, we introduce fold patterns for three basic joints commonly used in robots, and we show how the patterns can be changed to accommodate user-specified ranges of motion. The joints are composed with each other to produce joints with higher degrees of freedom and with rigid bodies to produce entire foldable linkage mechanisms. We have folded our basic joints and composed mechanisms, and they achieve the expected kinematics. We have also printed control circuitry on and attached actuators directly to three of our designs, demonstrating that it possible to print and fold robots with many different kinematics.

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The Deformable Wheel Robot Using Magic-Ball Origami Structure

Cited by 67 publications

References 0 publications

An origami-inspired cargo drone

An origami-inspired cargo drone

Development of a Multi-functional Soft Robot (SNUMAX) and Performance in RoboSoft Grand Challenge

Foldable Joints for Foldable Robots

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