Design of CLARI: A Miniature Modular Origami Passive Shape‐Morphing Robot
Miniature robots provide unprecedented access to confined environments and show potential for applications such as search‐and‐rescue and high‐value asset inspection. The capability of body deformation further enhances the reachability of these small robots in cluttered terrains similar to those of i...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-12-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202300181 |
| _version_ | 1797378736593567744 |
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| author | Heiko Kabutz Kaushik Jayaram |
| author_facet | Heiko Kabutz Kaushik Jayaram |
| author_sort | Heiko Kabutz |
| collection | DOAJ |
| description | Miniature robots provide unprecedented access to confined environments and show potential for applications such as search‐and‐rescue and high‐value asset inspection. The capability of body deformation further enhances the reachability of these small robots in cluttered terrains similar to those of insects and soft arthropods. Motivated by this concept, compliant legged articulated robotic insect (CLARI), an insect‐scale 2.59 g quadrupedal robot capable of body deformation, is presented. The robot, currently, with tethered electrical connections for power and control is manufactured using laminate fabrication and assembled using origami pop‐up techniques. To enable locomotion in multiple shape configurations, a novel body architecture comprising modular, actuated leg mechanisms, is designed. CLARI has eight independently actuated degrees of freedom driven by custom piezoelectric actuators, making it mechanically dextrous. Herein, open‐loop robot locomotion at multiple stride frequencies (1–10 Hz) is characterized using multiple gaits (trot, walk, etc.) in three different fixed body shapes (long, symmetric, wide) and the robot's capabilities are illustrated. Finally, preliminary results of CLARI locomoting with a compliant body in open terrain and through a laterally constrained gap, a novel capability for legged robots, is demonstrated. These results represent the first step toward achieving effective cluttered terrain navigation with adaptable compliant robots in real‐world environments. |
| first_indexed | 2024-03-08T20:12:01Z |
| format | Article |
| id | doaj.art-5db7e90b1dd34fc389425a9ab2d778e1 |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-03-08T20:12:01Z |
| publishDate | 2023-12-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-5db7e90b1dd34fc389425a9ab2d778e12023-12-23T04:53:50ZengWileyAdvanced Intelligent Systems2640-45672023-12-01512n/an/a10.1002/aisy.202300181Design of CLARI: A Miniature Modular Origami Passive Shape‐Morphing RobotHeiko Kabutz0Kaushik Jayaram1Paul M. Rady Department of Mechanical Engineering University of Colorado Boulder CO 80309 USAPaul M. Rady Department of Mechanical Engineering University of Colorado Boulder CO 80309 USAMiniature robots provide unprecedented access to confined environments and show potential for applications such as search‐and‐rescue and high‐value asset inspection. The capability of body deformation further enhances the reachability of these small robots in cluttered terrains similar to those of insects and soft arthropods. Motivated by this concept, compliant legged articulated robotic insect (CLARI), an insect‐scale 2.59 g quadrupedal robot capable of body deformation, is presented. The robot, currently, with tethered electrical connections for power and control is manufactured using laminate fabrication and assembled using origami pop‐up techniques. To enable locomotion in multiple shape configurations, a novel body architecture comprising modular, actuated leg mechanisms, is designed. CLARI has eight independently actuated degrees of freedom driven by custom piezoelectric actuators, making it mechanically dextrous. Herein, open‐loop robot locomotion at multiple stride frequencies (1–10 Hz) is characterized using multiple gaits (trot, walk, etc.) in three different fixed body shapes (long, symmetric, wide) and the robot's capabilities are illustrated. Finally, preliminary results of CLARI locomoting with a compliant body in open terrain and through a laterally constrained gap, a novel capability for legged robots, is demonstrated. These results represent the first step toward achieving effective cluttered terrain navigation with adaptable compliant robots in real‐world environments.https://doi.org/10.1002/aisy.202300181adaptable robotsconfined terrainembodied intelligenceinsect-scalelegged soft robotsmodular systems |
| spellingShingle | Heiko Kabutz Kaushik Jayaram Design of CLARI: A Miniature Modular Origami Passive Shape‐Morphing Robot Advanced Intelligent Systems adaptable robots confined terrain embodied intelligence insect-scale legged soft robots modular systems |
| title | Design of CLARI: A Miniature Modular Origami Passive Shape‐Morphing Robot |
| title_full | Design of CLARI: A Miniature Modular Origami Passive Shape‐Morphing Robot |
| title_fullStr | Design of CLARI: A Miniature Modular Origami Passive Shape‐Morphing Robot |
| title_full_unstemmed | Design of CLARI: A Miniature Modular Origami Passive Shape‐Morphing Robot |
| title_short | Design of CLARI: A Miniature Modular Origami Passive Shape‐Morphing Robot |
| title_sort | design of clari a miniature modular origami passive shape morphing robot |
| topic | adaptable robots confined terrain embodied intelligence insect-scale legged soft robots modular systems |
| url | https://doi.org/10.1002/aisy.202300181 |
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