Planning to fold multiple objects from a single self-folding sheet
This paper considers planning and control algorithms that enable a programmable sheet to realize different shapes by autonomous folding. Prior work on self-reconfiguring machines has considered modular systems in which independent units coordinate with their neighbors to realize a desired shape. A k...
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| Format: | Article |
| Language: | en_US |
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Cambridge University Press
2011
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| Online Access: | http://hdl.handle.net/1721.1/61986 https://orcid.org/0000-0003-3803-5703 https://orcid.org/0000-0001-5473-3566 |
| _version_ | 1811082926663663616 |
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| author | An, Byoung Kwon Benbernou, Nadia M. Demaine, Erik D. 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 An, Byoung Kwon Benbernou, Nadia M. Demaine, Erik D. Rus, Daniela L. |
| author_sort | An, Byoung Kwon |
| collection | MIT |
| description | This paper considers planning and control algorithms that enable a programmable sheet to realize different shapes by autonomous folding. Prior work on self-reconfiguring machines has considered modular systems in which independent units coordinate with their neighbors to realize a desired shape. A key limitation in these prior systems is the typically many operations to make and break connections with neighbors, which lead to brittle performance. We seek to mitigate these difficulties through the unique concept of self-folding origami with a universal fixed set of hinges. This approach exploits a single sheet composed of interconnected triangular sections. The sheet is able to fold into a set of predetermined shapes using embedded actuation.
We describe the planning algorithms underlying these self-folding sheets, forming a new family of reconfigurable robots that fold themselves into origami by actuating edges to fold by desired angles at desired times. Given a flat sheet, the set of hinges, and a desired folded state for the sheet, the algorithms (1) plan a continuous folding motion into the desired state, (2) discretize this motion into a practicable sequence of phases, (3) overlay these patterns and factor the steps into a minimum set of groups, and (4) automatically plan the location of actuators and threads on the sheet for implementing the shape-formation control. |
| first_indexed | 2024-09-23T12:13:47Z |
| format | Article |
| id | mit-1721.1/61986 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T12:13:47Z |
| publishDate | 2011 |
| publisher | Cambridge University Press |
| record_format | dspace |
| spelling | mit-1721.1/619862022-09-28T00:46:53Z Planning to fold multiple objects from a single self-folding sheet An, Byoung Kwon Benbernou, Nadia M. Demaine, Erik D. Rus, Daniela L. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Department of Mathematics Demaine, Erik D. An, Byoung Kwon Benbernou, Nadia M. Demaine, Erik D. Rus, Daniela L. This paper considers planning and control algorithms that enable a programmable sheet to realize different shapes by autonomous folding. Prior work on self-reconfiguring machines has considered modular systems in which independent units coordinate with their neighbors to realize a desired shape. A key limitation in these prior systems is the typically many operations to make and break connections with neighbors, which lead to brittle performance. We seek to mitigate these difficulties through the unique concept of self-folding origami with a universal fixed set of hinges. This approach exploits a single sheet composed of interconnected triangular sections. The sheet is able to fold into a set of predetermined shapes using embedded actuation. We describe the planning algorithms underlying these self-folding sheets, forming a new family of reconfigurable robots that fold themselves into origami by actuating edges to fold by desired angles at desired times. Given a flat sheet, the set of hinges, and a desired folded state for the sheet, the algorithms (1) plan a continuous folding motion into the desired state, (2) discretize this motion into a practicable sequence of phases, (3) overlay these patterns and factor the steps into a minimum set of groups, and (4) automatically plan the location of actuators and threads on the sheet for implementing the shape-formation control. United States. Defense Advanced Research Projects Agency. Programmable Matter Program 2011-03-28T21:09:30Z 2011-03-28T21:09:30Z 2011-01 2010-11 Article http://purl.org/eprint/type/JournalArticle 0263-5747 1469-8668 http://hdl.handle.net/1721.1/61986 An, Byoungkwon et al. “Planning To Fold Multiple Objects From a Single Self-folding Sheet.” Robotica 29.01 (2011) : 87-102. Copyright © Cambridge University Press 2011 https://orcid.org/0000-0003-3803-5703 https://orcid.org/0000-0001-5473-3566 en_US http://dx.doi.org/10.1017/S0263574710000731 Robotica Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Cambridge University Press MIT web domain |
| spellingShingle | An, Byoung Kwon Benbernou, Nadia M. Demaine, Erik D. Rus, Daniela L. Planning to fold multiple objects from a single self-folding sheet |
| title | Planning to fold multiple objects from a single self-folding sheet |
| title_full | Planning to fold multiple objects from a single self-folding sheet |
| title_fullStr | Planning to fold multiple objects from a single self-folding sheet |
| title_full_unstemmed | Planning to fold multiple objects from a single self-folding sheet |
| title_short | Planning to fold multiple objects from a single self-folding sheet |
| title_sort | planning to fold multiple objects from a single self folding sheet |
| url | http://hdl.handle.net/1721.1/61986 https://orcid.org/0000-0003-3803-5703 https://orcid.org/0000-0001-5473-3566 |
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