The design and control of the multi-modal locomotion origami robot, Tribot

Zhakypov, Zhenishbek; Falahi, Mohsen; Shah, Manan; Paik, Jamie

doi:10.1109/iros.2015.7353994

Cited by 49 publications

(29 citation statements)

References 21 publications

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“…3D printing of robots reflects this concept. For example, multimaterial printers (StrataSys, Markforged) are used to print actuator moulds or passive robotic structures 6 for low-profile origami robots. Smart materials react to external stimuli such as heat, UV light, humidity, magnetic or electrical fields and are explored for the printing of actuators, called 4D printing.…”

Section: Modern and Organic Manufacturingmentioning

confidence: 99%

Soft robot design methodology for ‘push-button’ manufacturing

Paik

2018

Nat Rev Mater

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Section: Modern and Organic Manufacturingmentioning

confidence: 99%

Soft robot design methodology for ‘push-button’ manufacturing

Paik

2018

Nat Rev Mater

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“…Page number 3 JMR-16-1214 Salerno shape transformation [2], crawling locomotion [3][4][5], jumping [6] and multimodal locomotion [7]. At smaller scales SCM has also been used to develop millimeter-scale flying robotic insects [8].…”

Section: Researchers Demonstrated the Potential Of This Novel Manufacmentioning

confidence: 99%

A Low Profile Electromagnetic Actuator Design and Model for an Origami Parallel Platform

Salerno

Firouzeh

Paik

2017

Journal of Mechanisms and Robotics

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Thin foldable origami mechanisms allow reconfiguration of complex structures with large volumetric change, versatility, and at low cost; however, there is rarely a systematic way to make them autonomously actuated due to the lack of low profile actuators. Actuation should satisfy the design requirements of wide actuation range, high actuation speed, and backdrivability. This paper presents a novel approach toward fast and controllable folding mechanisms by embedding an electromagnetic actuation system into a nominally flat platform. The design, fabrication, and modeling of the electromagnetic actuation system are reported, and a 1.7 mm-thick single-degree-of-freedom (DoF) foldable parallel structure reaching an elevation of 13 mm is used as a proof of concept for the proposed methodology. We also report on the extensive test results that validate the mechanical model in terms of the loaded and unloaded speed, the blocked force, and the range of actuation.

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“…One prominent solution to the problem of reconfiguration and compliance lies in suction gripper morphology; multiple shapes of cross-sectional areas could effectively conform to object geometry and also create various stiffnesses associated with structural density [14]. Such metastructural and metamaterial behavior is the nature of robotic origami design [15,16], where rigid facets connected with flexible hinges generate desired 3-D shape configurations [17]- [19] by self-folding, and different stiffness modes by collapsing the structure [20], locking some of the hinges [21], or by means of variable stiffness material joints [10], theoretically with infinite degrees of freedom (DoF) [22].…”

Section: Introductionmentioning

confidence: 99%

An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size

Zhakypov

Heremans

Billard

et al. 2018

IEEE Robot. Autom. Lett.

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Gripper adaptability to handle objects of different shape and size brings high flexibility to manipulation. Gripping flat, round, or narrow objects poses challenges to even the most sophisticated robotic grippers. Among various gripper technologies, the vacuum suction grippers provide design simplicity, yet versatility at low cost, however, their application is limited to their fixed shape and size. Here, we present an origamiinspired reconfigurable suction gripper to address adaptability with robotic suction grippers. Constructed from rigid and soft components and driven by compact shape memory alloy actuators, the gripper can effectively self-fold into three shape modes to pick large and small flat, narrow cylindrical, triangular and spherical objects. The 10-g few centimeters gripper, lifts loads up to 5 N, 50 times its weight. We also present an underactuated prototype, demonstrating the versatility of our design and actuation methods.

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The design and control of the multi-modal locomotion origami robot, Tribot

Cited by 49 publications

References 21 publications

Soft robot design methodology for ‘push-button’ manufacturing

Soft robot design methodology for ‘push-button’ manufacturing

A Low Profile Electromagnetic Actuator Design and Model for an Origami Parallel Platform

An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size

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