A Modular Folded Laminate Robot Capable of Multi Modal Locomotion

Je sung Koh, Daniel M. Aukes, Brandon Araki, Sarah Pohorecky, Yash Mulgaonkar, Michael T. Tolley, Vijay Kumar, Daniela Rus, Robert J. Wood

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Scopus citations


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.

Original languageEnglish (US)
Title of host publicationSpringer Proceedings in Advanced Robotics
PublisherSpringer Science and Business Media B.V.
Number of pages12
StatePublished - 2017
Externally publishedYes

Publication series

NameSpringer Proceedings in Advanced Robotics
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264


  • Folded laminate devices
  • Multi-modal locomotion
  • Printable robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Engineering (miscellaneous)
  • Artificial Intelligence
  • Computer Science Applications
  • Applied Mathematics


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