TY - GEN
T1 - CurveQuad
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
AU - Feshbach, Daniel
AU - Wu, Xuelin
AU - Vasireddy, Satviki
AU - Beardell, Louis
AU - To, Bao
AU - Baryshnikov, Yuliy
AU - Sung, Cynthia
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - We present CurveQuad, a miniature curved origami quadruped that is able to self-fold and unfold, crawl, and steer, all using a single actuator. CurveQuad is designed for planar manufacturing, with parts that attach and stack sequentially on a flat body. The design uses 4 curved creases pulled by 2 pairs of tendons from opposite ends of a link on a 270°servo. It is 8 cm in the longest direction and weighs 10.9 g. Rotating the horn pulls the tendons inwards to induce folding. Continuing to rotate the horn shears the robot, enabling the robot to shuffle forward while turning in either direction. We experimentally validate the robot's ability to fold, steer, and unfold by changing the magnitude of horn rotation. We also demonstrate basic feedback control by steering towards a light source from a variety of starting positions and orientations, and swarm aggregation by having 4 robots simultaneously steer towards the light. The results demonstrate the potential of using curved crease origami in self-assembling and deployable robots with complex motions such as locomotion.
AB - We present CurveQuad, a miniature curved origami quadruped that is able to self-fold and unfold, crawl, and steer, all using a single actuator. CurveQuad is designed for planar manufacturing, with parts that attach and stack sequentially on a flat body. The design uses 4 curved creases pulled by 2 pairs of tendons from opposite ends of a link on a 270°servo. It is 8 cm in the longest direction and weighs 10.9 g. Rotating the horn pulls the tendons inwards to induce folding. Continuing to rotate the horn shears the robot, enabling the robot to shuffle forward while turning in either direction. We experimentally validate the robot's ability to fold, steer, and unfold by changing the magnitude of horn rotation. We also demonstrate basic feedback control by steering towards a light source from a variety of starting positions and orientations, and swarm aggregation by having 4 robots simultaneously steer towards the light. The results demonstrate the potential of using curved crease origami in self-assembling and deployable robots with complex motions such as locomotion.
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U2 - 10.1109/IROS55552.2023.10342339
DO - 10.1109/IROS55552.2023.10342339
M3 - Conference contribution
AN - SCOPUS:85182525034
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2485
EP - 2492
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 1 October 2023 through 5 October 2023
ER -