Interactive robogami: An end-to-end system for design of robots with ground locomotion

Abstract

This paper aims to democratize the design and fabrication of robots, enabling people of all skill levels to make robots without needing expert domain knowledge. Existing work in computational design and rapid fabrication has explored this question of customization for physical objects but so far has not been able to conquer the complexity of robot designs. We have developed Interactive Robogami, a tool for composition-based design of ground robots that can be fabricated as flat sheets and then folded into 3D structures. This rapid prototyping process enables users to create lightweight, affordable, and materially versatile robots with short turnaround time. Using Interactive Robogami, designers can compose new robot designs from a database of print-and-fold parts. The designs are tested for the users' functional specifications via simulation and fabricated on user satisfaction. We present six robots designed and fabricated using a 3D printing based approach, as well as a larger robot cut from sheet metal. We have also conducted a user study that demonstrates that our tool is intuitive for novice designers and expressive enough to create a wide variety of ground robot designs.

Accomplishing high-level tasks with modular robots

“…Outside the realm of modular robotics, systems have been developed that can synthesize rapidly manufacturable robot designs from high-level user specifications [18], [17], [25]. This work is similar to ours in the sense that high-level specifications from the user are interpreted to synthesize robot designs and behaviors from elements in a design library.…”

“…This work is similar to ours in the sense that high-level specifications from the user are interpreted to synthesize robot designs and behaviors from elements in a design library. The goal of these systems is to allow novice users to rapidly design and build functioning robots at low cost, using fabrication techniques such as 3D printing [18], [17] and origami folding [25]. Consequently, the scope of the tasks they address is very different from ours.…”

Skaterbots

“…These research efforts build a bridge between the fields of HCI, Computer Graphics and Robotics, and our work follows this spirit. In particular, closely related to our work are algorithmic methods to design origami-inspired robots [Schulz et al 2017] as well as walking automata [Bharaj et al 2015] and robotic creatures [Megaro et al 2015]. The computational techniques we describe in this paper complement this body of work by targeting a diverse class of mobile robots that move using arbitrary arrangements of legs and wheels.…”

“…Echoing the trend of mass customization and leveraging recent advances in digital fabrication, our long term goal is to develop algorithmic foundations that will enable these robots to be created on-demand according to the individual needs and preferences of those they serve. In this quest, we join recent research efforts that bridge the fields of animation, fabricationoriented design and robotics [Bern et al 2017;Du et al 2016;Schulz et al 2017]. Complementing this body of work, we introduce a novel design system for a rich class of mobile robots that employ arbitrary arrangements of legs and wheels for locomotion.…”

An End-To-End System for Accomplishing Tasks with Modular Robots

“…The focus of their work is on synthesis of electromechanical systems and low-level controllers, primarily addressing lowlevel functionality (such as the ability to walk or grip) rather than high-level, multi-part tasks situated in an environment. Schulz et al [20] present tools for designing foldable robots and a library of robots created by volunteers. In [23], Tosun et al introduce a physics-based simulator, design creation tool, and a small hierarchically organized library for the SMORES robot.…”