@inbook{dbdd96c2f6c64aea85fe0b7d7a8cfc1a,
title = "A Modular Folded Laminate Robot Capable of Multi Modal Locomotion",
abstract = "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.",
keywords = "Folded laminate devices, Multi-modal locomotion, Printable robots",
author = "Koh, {Je sung} and Aukes, {Daniel M.} and Brandon Araki and Sarah Pohorecky and Yash Mulgaonkar and Tolley, {Michael T.} and Vijay Kumar and Daniela Rus and Wood, {Robert J.}",
note = "Funding Information: Acknowledgment. This research was supported by the National Science Foundation (EFRI-1240383 and CCF-1138967) and the Wyss Institute for Biologically Inspired Research. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect those of the National Science Foundation. Publisher Copyright: {\textcopyright} 2017, Springer International Publishing AG.",
year = "2017",
doi = "10.1007/978-3-319-50115-4_6",
language = "English (US)",
series = "Springer Proceedings in Advanced Robotics",
publisher = "Springer Science and Business Media B.V.",
pages = "59--70",
booktitle = "Springer Proceedings in Advanced Robotics",
}