@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 = "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",
}