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137211 |
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|a Koh, Je-sung
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|a Aukes, Daniel M.
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|a Araki, Brandon
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|a Pohorecky, Sarah
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|a Mulgaonkar, Yash
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|a Tolley, Michael T.
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|a Kumar, Vijay
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|a Rus, Daniela
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|a Wood, Robert J.
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|a A Modular Folded Laminate Robot Capable of Multi Modal Locomotion
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|b Springer International Publishing,
|c 2021-11-03T14:53:40Z.
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|z Get fulltext
|u https://hdl.handle.net/1721.1/137211
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|a 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.
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|a Article
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|t 10.1007/978-3-319-50115-4_6
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