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The design and control of the multi-modal locomotion origami robot, Tribot | IEEE Conference Publication | IEEE Xplore

The design and control of the multi-modal locomotion origami robot, Tribot


Abstract:

Origami robots (Robogamis) use architecture to strategically activate different sets and sequence of actuators to achieve large variety of reconfigurable forms. Tribot is...Show More
Notes: As originally published there is an error in this document. The author's wish to add the following notice: "The author list is modified to the following order Mohsen Falahi, Zhenishbek Zhakypov, Manan Shah and Jamie Paik. The first two authors contributed equally to the publication." The original PDF remains unchanged.

Abstract:

Origami robots (Robogamis) use architecture to strategically activate different sets and sequence of actuators to achieve large variety of reconfigurable forms. Tribot is a unique mobile origami robot that can simultaneously choose between two modes of locomotion: jumping and crawling. When assembled, Tribot measures 64 × 34 × 20 mm3, weighs 4 g, crawls at 17% of its body length per gait cycle and jumps seven times its height repeatedly without needing to be reset. To optimize the practicality of the nominally 2D design, we made two different approaches to build the prototypes. For one of them, we used the “traditional”, monolithic, layer-by-layer robogami fabrication method and the second, we printed out most parts using a multi-material 3D printer. By showing the performance of two prototypes side-by-side, we show that with the 3D printer, we can minimize the number of functional layers and reduce the fabrication time. The embedded sensors allow Tribot's crawling gait pattern and jumping height to be modulated with a closed loop control. We compare the expected gait step size and displacement to that of the presented prototype while describing the design and control parameters to achieve the experimental results. We also illustrated the preliminary graphical design tool platform developed to optimize the next design iteration of Tribot.
Notes: As originally published there is an error in this document. The author's wish to add the following notice: "The author list is modified to the following order Mohsen Falahi, Zhenishbek Zhakypov, Manan Shah and Jamie Paik. The first two authors contributed equally to the publication." The original PDF remains unchanged.
Date of Conference: 28 September 2015 - 02 October 2015
Date Added to IEEE Xplore: 17 December 2015
ISBN Information:
Conference Location: Hamburg, Germany

References

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