Robotic metamorphosis by origami exoskeletons
Changing the inherent physical capabilities of robots by metamorphosis has been a long-standing goal of engineers. However, this task is challenging because of physical constraints in the robot body, each component of which has a defined functionality. To date, self-reconfiguring robots have limitat...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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American Association for the Advancement of Science
2019
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| Online Access: | https://hdl.handle.net/1721.1/122788 |
| _version_ | 1826211214681702400 |
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| author | Miyashita, Shuhei Guitron, Steven P. Li, Shuguang Rus, Daniela L |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Miyashita, Shuhei Guitron, Steven P. Li, Shuguang Rus, Daniela L |
| author_sort | Miyashita, Shuhei |
| collection | MIT |
| description | Changing the inherent physical capabilities of robots by metamorphosis has been a long-standing goal of engineers. However, this task is challenging because of physical constraints in the robot body, each component of which has a defined functionality. To date, self-reconfiguring robots have limitations in their on-site extensibility because of the large scale of today’s unit modules and the complex administration of their coordination, which relies heavily on on-board electronic components. We present an approach to extending and changing the capabilities of a robot by enabling metamorphosis using self-folding origami “exoskeletons.” We show how a cubical magnet “robot” can be remotely moved using a controllable magnetic field and hierarchically develop different morphologies by interfacing with different origami exoskeletons. Activated by heat, each exoskeleton is self-folded from a rectangular sheet, extending the capabilities of the initial robot, such as enabling the manipulation of objects or locomotion on the ground, water, or air. Activated by water, the exoskeletons can be removed and are interchangeable. Thus, the system represents an end-to-end (re)cycle. We also present several robot and exoskeleton designs, devices, and experiments with robot metamorphosis using exoskeletons. |
| first_indexed | 2024-09-23T15:02:24Z |
| format | Article |
| id | mit-1721.1/122788 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T15:02:24Z |
| publishDate | 2019 |
| publisher | American Association for the Advancement of Science |
| record_format | dspace |
| spelling | mit-1721.1/1227882022-09-29T12:15:03Z Robotic metamorphosis by origami exoskeletons Miyashita, Shuhei Guitron, Steven P. Li, Shuguang Rus, Daniela L Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Changing the inherent physical capabilities of robots by metamorphosis has been a long-standing goal of engineers. However, this task is challenging because of physical constraints in the robot body, each component of which has a defined functionality. To date, self-reconfiguring robots have limitations in their on-site extensibility because of the large scale of today’s unit modules and the complex administration of their coordination, which relies heavily on on-board electronic components. We present an approach to extending and changing the capabilities of a robot by enabling metamorphosis using self-folding origami “exoskeletons.” We show how a cubical magnet “robot” can be remotely moved using a controllable magnetic field and hierarchically develop different morphologies by interfacing with different origami exoskeletons. Activated by heat, each exoskeleton is self-folded from a rectangular sheet, extending the capabilities of the initial robot, such as enabling the manipulation of objects or locomotion on the ground, water, or air. Activated by water, the exoskeletons can be removed and are interchangeable. Thus, the system represents an end-to-end (re)cycle. We also present several robot and exoskeleton designs, devices, and experiments with robot metamorphosis using exoskeletons. National Science Foundation (U.S.) (Grant 1240383) National Science Foundation (U.S.) (Grant 1138967) 2019-11-07T01:03:49Z 2019-11-07T01:03:49Z 2017-09-27 2017-07 2019-07-12T12:36:37Z Article http://purl.org/eprint/type/JournalArticle 2470-9476 https://hdl.handle.net/1721.1/122788 Miyashita, Shuhei et al. "Robotic metamorphosis by origami exoskeletons." Science Robotics, 2, 10 (27 September 2017): eaao4369 en 10.1126/scirobotics.aao4369 Science Robotics Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf American Association for the Advancement of Science Other repository |
| spellingShingle | Miyashita, Shuhei Guitron, Steven P. Li, Shuguang Rus, Daniela L Robotic metamorphosis by origami exoskeletons |
| title | Robotic metamorphosis by origami exoskeletons |
| title_full | Robotic metamorphosis by origami exoskeletons |
| title_fullStr | Robotic metamorphosis by origami exoskeletons |
| title_full_unstemmed | Robotic metamorphosis by origami exoskeletons |
| title_short | Robotic metamorphosis by origami exoskeletons |
| title_sort | robotic metamorphosis by origami exoskeletons |
| url | https://hdl.handle.net/1721.1/122788 |
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