A Modular Folded Laminate Robot Capable of Multi Modal Locomotion

• Main Authors: Koh, Je-sung (Author), Aukes, Daniel M. (Author), Araki, Minoru Brandon (Author), Pohorecky, Sarah (Author), Mulgaonkar, Yash (Author), Tolley, Michael T. (Author), Kumar, Vijay (Author), Rus, Daniela L (Author), Wood, Robert J. (Author)
• Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor)
• Format: Article
• Language: English
• Published: Springer International Publishing, 2022-01-03T14:50:27Z.
• Subjects: Article
• Online Access: Get fulltext

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.
National Science Foundation (Grants EFRI-1240383 and CCF- 1138967)