TY - GEN
T1 - CREASE Synchronized Gait Through Folded Geometry.
AU - Mesa, Olga
AU - Mhatre, Saurabh
AU - Singh, Malika
AU - Aukes, Dan
N1 - Publisher Copyright:
© 2019, Education and research in Computer Aided Architectural Design in Europe. All rights reserved.
PY - 2019
Y1 - 2019
N2 - Robotics have expanded exponentially in the last decade. Within the vast examples of ambulatory robots, traditional legged robots necessitate engineering expertise and the use of specialized fabrication technologies. Micro electromechanical (MEM) robots are useful for a wide range of applications yet in most cases, difficult to fabricate and excessively intricate. Advances in pop-up laminate construction have generated a model shift in the development of robot morphologies due to their ease of fabrication and scalability from the millimeter to centimeter scale. This research continues to investigate the link between kinematics and pop-up origami structures in robotics. The objective was to design a robot that exhibited efficient and controlled locomotion minimizing number of motors. ``Crease'', an origami robot that emerges from a two-dimensional sheet into its three-dimensional configuration was developed. By amplifying a simple rotational motion through the geometry of folds in the robot, a complex gait was achieved with minimal motorized actuation. Variations in gait, control, and steering were studied through physical and computational models. Untethered Creases that sense their environment and steer accordingly were developed. This research contributes not only to the field of robotics but also to design where efficiency, adjustability and ease of fabrication are critical.
AB - Robotics have expanded exponentially in the last decade. Within the vast examples of ambulatory robots, traditional legged robots necessitate engineering expertise and the use of specialized fabrication technologies. Micro electromechanical (MEM) robots are useful for a wide range of applications yet in most cases, difficult to fabricate and excessively intricate. Advances in pop-up laminate construction have generated a model shift in the development of robot morphologies due to their ease of fabrication and scalability from the millimeter to centimeter scale. This research continues to investigate the link between kinematics and pop-up origami structures in robotics. The objective was to design a robot that exhibited efficient and controlled locomotion minimizing number of motors. ``Crease'', an origami robot that emerges from a two-dimensional sheet into its three-dimensional configuration was developed. By amplifying a simple rotational motion through the geometry of folds in the robot, a complex gait was achieved with minimal motorized actuation. Variations in gait, control, and steering were studied through physical and computational models. Untethered Creases that sense their environment and steer accordingly were developed. This research contributes not only to the field of robotics but also to design where efficiency, adjustability and ease of fabrication are critical.
KW - Digital Fabrication and Robotics
KW - Laminate Construction
KW - Origami Robotics
KW - Smart Geometry
UR - http://www.scopus.com/inward/record.url?scp=85127796250&partnerID=8YFLogxK
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U2 - 10.5151/proceedings-ecaadesigradi2019_541
DO - 10.5151/proceedings-ecaadesigradi2019_541
M3 - Conference contribution
AN - SCOPUS:85127796250
SN - 9789491207198
T3 - Proceedings of the International Conference on Education and Research in Computer Aided Architectural Design in Europe
SP - 197
EP - 206
BT - Architecture in the Age of the 4th Industrial Revolutio
A2 - Sousa, José Pedro
A2 - Henriques, Gonçalo Castro
A2 - Xavier, João Pedro
PB - Education and research in Computer Aided Architectural Design in Europe
T2 - 37th Conference on Education and Research in Computer Aided Architectural Design in Europe and 23rd Conference of the Iberoamerican Society Digital Graphics, eCAADe SIGraDi 2019
Y2 - 11 September 2019 through 13 September 2019
ER -