TY - JOUR
T1 - CREASE
T2 - Synchronous gait by minimizing actuation through folded geometry
AU - Mesa, Olga
AU - Mhatre, Saurabh
AU - Aukes, Dan
N1 - Funding Information:
Authors Olga Mesa and Saurabh Mhatre contributed equally to this research, design, and analysis. Research, design, and fabrication of first Creases were done by Olga Mesa, Saurabh Mhatre, and Malika Singh. The authors wish to credit that the beginning of this research was developed during a course titled: SCI 6478 Informal Robotics / New Paradigms for Design & Construction designed and taught by Chuck Hoberman in collaboration with Dan Aukes and Jonathan Grinham at the Harvard Graduate School of Design. The author(s) received no financial support for the research, authorship, and/or publication of this article.
Publisher Copyright:
© The Author(s) 2020.
PY - 2020/12
Y1 - 2020/12
N2 - The Age of the Fourth Industrial Revolution promises the integration and synergy of disciplines to arrive at meaningful and comprehensive solutions. As computation and fabrication methods become pervasive, they present platforms for communication. Value exists in diverse disciplines bringing their approach to a common conversation, proposing demands, and potentials in response to entrenched challenges. Robotics has expanded recently as computational analysis, and digital fabrication methods are more accurate and reliable. Advances in functional microelectromechanical components have resulted in the design of new robots presenting alternatives to traditional ambulatory robots. However, most examples are the result of intense computational analysis necessitating engineering expertise and specialized manufacturing. Accessible fabrication methods like laminate techniques propose alternatives to new robot morphologies. However, most examples remain overly actuated without harnessing the full potential of folds for locomotion. Our research explores the connection between origami structures and kinematics for the generation of an ambulatory robot presenting efficient, controlled, and graceful gait with minimal use of components. Our robot ‘Crease’ achieves complex gait by harnessing kinematic origami chains rather than relying on motors. Minimal actuation activates the folds to produce variations in walk and direction. Integrating a physical iterative process with computational analysis, several prototypes were generated at different scales, including untethered ones with sensing and steering that could map their environment. Furthering the dialogue between disciplines, this research contributes not only to the field of robotics but also architectural design, where efficiency, adjustability, and ease of fabrication are critical in designing kinetic elements.
AB - The Age of the Fourth Industrial Revolution promises the integration and synergy of disciplines to arrive at meaningful and comprehensive solutions. As computation and fabrication methods become pervasive, they present platforms for communication. Value exists in diverse disciplines bringing their approach to a common conversation, proposing demands, and potentials in response to entrenched challenges. Robotics has expanded recently as computational analysis, and digital fabrication methods are more accurate and reliable. Advances in functional microelectromechanical components have resulted in the design of new robots presenting alternatives to traditional ambulatory robots. However, most examples are the result of intense computational analysis necessitating engineering expertise and specialized manufacturing. Accessible fabrication methods like laminate techniques propose alternatives to new robot morphologies. However, most examples remain overly actuated without harnessing the full potential of folds for locomotion. Our research explores the connection between origami structures and kinematics for the generation of an ambulatory robot presenting efficient, controlled, and graceful gait with minimal use of components. Our robot ‘Crease’ achieves complex gait by harnessing kinematic origami chains rather than relying on motors. Minimal actuation activates the folds to produce variations in walk and direction. Integrating a physical iterative process with computational analysis, several prototypes were generated at different scales, including untethered ones with sensing and steering that could map their environment. Furthering the dialogue between disciplines, this research contributes not only to the field of robotics but also architectural design, where efficiency, adjustability, and ease of fabrication are critical in designing kinetic elements.
KW - Digitals fabrication
KW - digital manufacturing and materials
KW - laminate construction
KW - origami
KW - robotics
KW - smart geometry
KW - smart materials
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U2 - 10.1177/1478077120948204
DO - 10.1177/1478077120948204
M3 - Article
AN - SCOPUS:85089029545
SN - 1478-0771
VL - 18
SP - 385
EP - 403
JO - International Journal of Architectural Computing
JF - International Journal of Architectural Computing
IS - 4
ER -