Interactive robogami: An end-to-end system for design of robots with ground locomotion
© The Author(s) 2017. This paper aims to democratize the design and fabrication of robots, enabling people of all skill levels to make robots without needing expert domain knowledge. Existing work in computational design and rapid fabrication has explored this question of customization for physical...
| Main Authors: | , , , , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publications
2021
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| Online Access: | https://hdl.handle.net/1721.1/134183 |
| _version_ | 1826206261168832512 |
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| author | Schulz, Adriana Sung, Cynthia Spielberg, Andrew Zhao, Wei Cheng, Robin Grinspun, Eitan Rus, Daniela Matusik, Wojciech |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Schulz, Adriana Sung, Cynthia Spielberg, Andrew Zhao, Wei Cheng, Robin Grinspun, Eitan Rus, Daniela Matusik, Wojciech |
| author_sort | Schulz, Adriana |
| collection | MIT |
| description | © The Author(s) 2017. This paper aims to democratize the design and fabrication of robots, enabling people of all skill levels to make robots without needing expert domain knowledge. Existing work in computational design and rapid fabrication has explored this question of customization for physical objects but so far has not been able to conquer the complexity of robot designs. We have developed Interactive Robogami, a tool for composition-based design of ground robots that can be fabricated as flat sheets and then folded into 3D structures. This rapid prototyping process enables users to create lightweight, affordable, and materially versatile robots with short turnaround time. Using Interactive Robogami, designers can compose new robot designs from a database of print-and-fold parts. The designs are tested for the users' functional specifications via simulation and fabricated on user satisfaction. We present six robots designed and fabricated using a 3D printing based approach, as well as a larger robot cut from sheet metal. We have also conducted a user study that demonstrates that our tool is intuitive for novice designers and expressive enough to create a wide variety of ground robot designs. |
| first_indexed | 2024-09-23T13:26:38Z |
| format | Article |
| id | mit-1721.1/134183 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T13:26:38Z |
| publishDate | 2021 |
| publisher | SAGE Publications |
| record_format | dspace |
| spelling | mit-1721.1/1341832023-09-14T19:57:18Z Interactive robogami: An end-to-end system for design of robots with ground locomotion Schulz, Adriana Sung, Cynthia Spielberg, Andrew Zhao, Wei Cheng, Robin Grinspun, Eitan Rus, Daniela Matusik, Wojciech Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science © The Author(s) 2017. This paper aims to democratize the design and fabrication of robots, enabling people of all skill levels to make robots without needing expert domain knowledge. Existing work in computational design and rapid fabrication has explored this question of customization for physical objects but so far has not been able to conquer the complexity of robot designs. We have developed Interactive Robogami, a tool for composition-based design of ground robots that can be fabricated as flat sheets and then folded into 3D structures. This rapid prototyping process enables users to create lightweight, affordable, and materially versatile robots with short turnaround time. Using Interactive Robogami, designers can compose new robot designs from a database of print-and-fold parts. The designs are tested for the users' functional specifications via simulation and fabricated on user satisfaction. We present six robots designed and fabricated using a 3D printing based approach, as well as a larger robot cut from sheet metal. We have also conducted a user study that demonstrates that our tool is intuitive for novice designers and expressive enough to create a wide variety of ground robot designs. 2021-10-27T19:58:32Z 2021-10-27T19:58:32Z 2017 2019-06-21T15:01:28Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/134183 en 10.1177/0278364917723465 International Journal of Robotics Research Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf SAGE Publications MIT web domain |
| spellingShingle | Schulz, Adriana Sung, Cynthia Spielberg, Andrew Zhao, Wei Cheng, Robin Grinspun, Eitan Rus, Daniela Matusik, Wojciech Interactive robogami: An end-to-end system for design of robots with ground locomotion |
| title | Interactive robogami: An end-to-end system for design of robots with ground locomotion |
| title_full | Interactive robogami: An end-to-end system for design of robots with ground locomotion |
| title_fullStr | Interactive robogami: An end-to-end system for design of robots with ground locomotion |
| title_full_unstemmed | Interactive robogami: An end-to-end system for design of robots with ground locomotion |
| title_short | Interactive robogami: An end-to-end system for design of robots with ground locomotion |
| title_sort | interactive robogami an end to end system for design of robots with ground locomotion |
| url | https://hdl.handle.net/1721.1/134183 |
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