A Modular Folded Laminate Robot Capable of Multi Modal Locomotion
This paper describes fundamental principles for two-dimensional pattern design of folded robots, specifically mobile robots consisting of closed-loop kinematic linkage mechanisms. Three fundamental methods for designing closed-chain folded four-bar linkages – the basic building block of these device...
| Egile Nagusiak: | , , , , , , , , |
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| Formatua: | Artikulua |
| Hizkuntza: | English |
| Argitaratua: |
Springer International Publishing
2021
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| Sarrera elektronikoa: | https://hdl.handle.net/1721.1/137211 |
| _version_ | 1826200328163295232 |
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| author | Koh, Je-sung Aukes, Daniel M. Araki, Brandon Pohorecky, Sarah Mulgaonkar, Yash Tolley, Michael T. Kumar, Vijay Rus, Daniela Wood, Robert J. |
| author_facet | Koh, Je-sung Aukes, Daniel M. Araki, Brandon Pohorecky, Sarah Mulgaonkar, Yash Tolley, Michael T. Kumar, Vijay Rus, Daniela Wood, Robert J. |
| author_sort | Koh, Je-sung |
| collection | MIT |
| description | This paper describes fundamental principles for two-dimensional pattern design of folded robots, specifically mobile robots consisting of closed-loop kinematic linkage mechanisms. Three fundamental methods for designing closed-chain folded four-bar linkages – the basic building block of these devices – are introduced. Modular connection strategies are also introduced as a method to overcome the challenges of designing assemblies of linkages from a two-dimensional sheet. The result is a design process that explores the tradeoffs between the complexity of linkage fabrication and also allows the designer combine multiple functions or modes of locomotion. A redesigned modular robot capable of multi-modal locomotion and grasping is presented to embody these design principles. |
| first_indexed | 2024-09-23T11:34:46Z |
| format | Article |
| id | mit-1721.1/137211 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T11:34:46Z |
| publishDate | 2021 |
| publisher | Springer International Publishing |
| record_format | dspace |
| spelling | mit-1721.1/1372112021-11-04T03:26:00Z A Modular Folded Laminate Robot Capable of Multi Modal Locomotion Koh, Je-sung Aukes, Daniel M. Araki, Brandon Pohorecky, Sarah Mulgaonkar, Yash Tolley, Michael T. Kumar, Vijay Rus, Daniela Wood, Robert J. This paper describes fundamental principles for two-dimensional pattern design of folded robots, specifically mobile robots consisting of closed-loop kinematic linkage mechanisms. Three fundamental methods for designing closed-chain folded four-bar linkages – the basic building block of these devices – are introduced. Modular connection strategies are also introduced as a method to overcome the challenges of designing assemblies of linkages from a two-dimensional sheet. The result is a design process that explores the tradeoffs between the complexity of linkage fabrication and also allows the designer combine multiple functions or modes of locomotion. A redesigned modular robot capable of multi-modal locomotion and grasping is presented to embody these design principles. 2021-11-03T14:53:40Z 2021-11-03T14:53:40Z 2017 2019-07-17T13:22:02Z Article http://purl.org/eprint/type/ConferencePaper 2511-1256 2511-1264 https://hdl.handle.net/1721.1/137211 Koh, Je-sung, Aukes, Daniel M., Araki, Brandon, Pohorecky, Sarah, Mulgaonkar, Yash et al. 2017. "A Modular Folded Laminate Robot Capable of Multi Modal Locomotion." en 10.1007/978-3-319-50115-4_6 Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Springer International Publishing MIT web domain |
| spellingShingle | Koh, Je-sung Aukes, Daniel M. Araki, Brandon Pohorecky, Sarah Mulgaonkar, Yash Tolley, Michael T. Kumar, Vijay Rus, Daniela Wood, Robert J. A Modular Folded Laminate Robot Capable of Multi Modal Locomotion |
| title | A Modular Folded Laminate Robot Capable of Multi Modal Locomotion |
| title_full | A Modular Folded Laminate Robot Capable of Multi Modal Locomotion |
| title_fullStr | A Modular Folded Laminate Robot Capable of Multi Modal Locomotion |
| title_full_unstemmed | A Modular Folded Laminate Robot Capable of Multi Modal Locomotion |
| title_short | A Modular Folded Laminate Robot Capable of Multi Modal Locomotion |
| title_sort | modular folded laminate robot capable of multi modal locomotion |
| url | https://hdl.handle.net/1721.1/137211 |
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