CREASE Synchronized Gait Through Folded Geometry.

Olga Mesa, Saurabh Mhatre, Malika Singh, Dan Aukes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationArchitecture in the Age of the 4th Industrial Revolutio
EditorsJosé Pedro Sousa, Gonçalo Castro Henriques, João Pedro Xavier
PublisherEducation and research in Computer Aided Architectural Design in Europe
Pages197-206
Number of pages10
ISBN (Print)9789491207198
DOIs
StatePublished - 2019
Event37th Conference on Education and Research in Computer Aided Architectural Design in Europe and 23rd Conference of the Iberoamerican Society Digital Graphics, eCAADe SIGraDi 2019 - Porto, Portugal
Duration: Sep 11 2019Sep 13 2019

Publication series

NameProceedings of the International Conference on Education and Research in Computer Aided Architectural Design in Europe
Volume3
ISSN (Print)2684-1843

Conference

Conference37th Conference on Education and Research in Computer Aided Architectural Design in Europe and 23rd Conference of the Iberoamerican Society Digital Graphics, eCAADe SIGraDi 2019
Country/TerritoryPortugal
CityPorto
Period9/11/199/13/19

Keywords

  • Digital Fabrication and Robotics
  • Laminate Construction
  • Origami Robotics
  • Smart Geometry

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Education
  • Architecture

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