Efficient reciprocating burrowing with anisotropic origami feet
Origami folding is an ancient art which holds promise for creating compliant and adaptable mechanisms, but has yet to be extensively studied for granular environments. At the same time, biological systems exploit anisotropic body forces for locomotion, such as the frictional anisotropy of a snake’s...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2023-08-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1214160/full |
| _version_ | 1797756398927347712 |
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| author | Sareum Kim Laura K. Treers Tae Myung Huh Hannah S. Stuart |
| author_facet | Sareum Kim Laura K. Treers Tae Myung Huh Hannah S. Stuart |
| author_sort | Sareum Kim |
| collection | DOAJ |
| description | Origami folding is an ancient art which holds promise for creating compliant and adaptable mechanisms, but has yet to be extensively studied for granular environments. At the same time, biological systems exploit anisotropic body forces for locomotion, such as the frictional anisotropy of a snake’s skin. In this work, we explore how foldable origami feet can be used to passively induce anisotropic force response in granular media, through varying their resistive plane. We present a reciprocating burrower which transfers pure symmetric linear motion into directed burrowing motion using a pair of deployable origami feet on either end. We also present an application of the reduced order model granular Resistive Force Theory to inform the design of deformable structures, and compare results with those from experiments and Discrete Element Method simulations. Through a single actuator, and without the use of advanced controllers or sensors, these origami feet enable burrowing locomotion. In this paper, we achieve burrowing translation ratios—net forward motion to overall linear actuation—over 46% by changing foot design without altering overall foot size. Specifically, anisotropic folding foot parameters should be tuned for optimal performance given a linear actuator’s stroke length. |
| first_indexed | 2024-03-12T18:00:49Z |
| format | Article |
| id | doaj.art-d5f276cb94ca471da3ea444f81baf18c |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-03-12T18:00:49Z |
| publishDate | 2023-08-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-d5f276cb94ca471da3ea444f81baf18c2023-08-02T12:41:27ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442023-08-011010.3389/frobt.2023.12141601214160Efficient reciprocating burrowing with anisotropic origami feetSareum Kim0Laura K. Treers1Tae Myung Huh2Hannah S. Stuart3Embodied Dexterity Group, Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, United StatesEmbodied Dexterity Group, Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, United StatesDepartment of Electrical and Computer Engineering, University of California Santa Cruz, Santa Cruz, CA, United StatesEmbodied Dexterity Group, Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, United StatesOrigami folding is an ancient art which holds promise for creating compliant and adaptable mechanisms, but has yet to be extensively studied for granular environments. At the same time, biological systems exploit anisotropic body forces for locomotion, such as the frictional anisotropy of a snake’s skin. In this work, we explore how foldable origami feet can be used to passively induce anisotropic force response in granular media, through varying their resistive plane. We present a reciprocating burrower which transfers pure symmetric linear motion into directed burrowing motion using a pair of deployable origami feet on either end. We also present an application of the reduced order model granular Resistive Force Theory to inform the design of deformable structures, and compare results with those from experiments and Discrete Element Method simulations. Through a single actuator, and without the use of advanced controllers or sensors, these origami feet enable burrowing locomotion. In this paper, we achieve burrowing translation ratios—net forward motion to overall linear actuation—over 46% by changing foot design without altering overall foot size. Specifically, anisotropic folding foot parameters should be tuned for optimal performance given a linear actuator’s stroke length.https://www.frontiersin.org/articles/10.3389/frobt.2023.1214160/fullanisotropysoft robotburrowinggranular mediaorigami |
| spellingShingle | Sareum Kim Laura K. Treers Tae Myung Huh Hannah S. Stuart Efficient reciprocating burrowing with anisotropic origami feet Frontiers in Robotics and AI anisotropy soft robot burrowing granular media origami |
| title | Efficient reciprocating burrowing with anisotropic origami feet |
| title_full | Efficient reciprocating burrowing with anisotropic origami feet |
| title_fullStr | Efficient reciprocating burrowing with anisotropic origami feet |
| title_full_unstemmed | Efficient reciprocating burrowing with anisotropic origami feet |
| title_short | Efficient reciprocating burrowing with anisotropic origami feet |
| title_sort | efficient reciprocating burrowing with anisotropic origami feet |
| topic | anisotropy soft robot burrowing granular media origami |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2023.1214160/full |
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