Robot self-assembly by folding: A printed inchworm robot

Felton, Samuel M.; Tolley, Michael T.; Önal, Çağdaş D.; Rus, Daniela; Wood, Robert J.

doi:10.1109/icra.2013.6630588

Cited by 120 publications

(80 citation statements)

References 27 publications

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“…We achieved this by adding an electrical circuit layer to the laminate which contains resistive heating elements [23], [24]. An additional advantage of this approach is the ability to precisely control a structure's fold sequence.…”

Section: Electrically Activated Foldingmentioning

confidence: 99%

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Self-folding shape memory laminates for automated fabrication

Tolley

Felton

Miyashita

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Nature regularly uses self-folding as an efficient approach to automated fabrication. In engineered systems, however, the use of self-folding has been primarily restricted to the assembly of small structures using exotic materials and/or complex infrastructures. In this paper we present three approaches to the self-folding of structures using low-cost, rapid-prototyped shape memory laminates. These structures require minimal deployment infrastructure, and are activated by light, heat, or electricity. We compare the fabrication of a fundamental structure (a cube) using each approach, and test ways to control fold angles in each case. Finally, for each self-folding approach we present a unique structure that the approach is particularly suited to fold, and discuss the advantages and disadvantages of each approach.

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Section: Electrically Activated Foldingmentioning

confidence: 99%

“…While this is a simple and inexpensive approach to self-folding, the single-material approach limits the strength and potential applications of the structures formed. Recently, we have demonstrated the use of similar SMPs, selectively actuated by resistive heaters, to realize self-folding robots and structures [23], [24].…”

Section: Introductionmentioning

confidence: 99%

Self-folding shape memory laminates for automated fabrication

Tolley

Felton

Miyashita

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…This method utilizes composites of SMP bonded to paper and activated by joule heating via resistive circuits 20 . SMPs are polymers that transition from a glass to a rubber phase when heated above their transition temperature, resulting in a programmed shape change 32,33 .…”

Section: Introductionmentioning

confidence: 99%

Self-folding with shape memory composites

et al. 2013

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Origami-inspired manufacturing can produce complex structures and machines by folding two-dimensional composites into three-dimensional structures. This fabrication technique is potentially less expensive, faster, and easier to transport than more traditional machining methods, including 3-D printing. Self-folding enhances this method by minimizing the manual labor involved in folding, allowing for complex geometries and enabling remote or automated assembly. This paper demonstrates a novel method of self-folding hinges using shape memory polymers (SMPs), paper, and resistive circuits to achieve localized and individually addressable folding at low cost. A model for the torque exerted by these composites was developed and validated against experimental data, in order to determine design rules for selecting materials and designing hinges. Torque was shown to increase with SMP thickness, resistive circuit width, and supplied electrical current. This technique was shown to be capable of complex geometries, as well as locking assemblies with sequential folds. Its functionality and low cost make it an ideal basis for a new type of printable manufacturing based on two-dimensional fabrication techniques.

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“…Control of these robots are also relatively less sophisticated due to their unchanged link dimensions and known kinematics. Recent research efforts in robotics is towards more biologically inspired robotics with robots mimicking continuous body deformation of their natural counterparts such as elephant trunk [1,2], an octopus arm [3][4][5], a snake [6][7][8], a fish [9], a worm and a caterpillar [10][11][12]. Namely, soft robotics, as an emerging research field, focuses on exploiting material properties in order to realize novel robotic systems and devices with more natural kinematic motions.…”

Section: Introductionmentioning

confidence: 99%

A 3D printed monolithic soft gripper with adjustable stiffness

Mutlu

Tawk

Alici

et al. 2017

IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society

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Soft robotics has recently gained a significant momentum as a newly emerging field in robotics that focuses on biomimicry, compliancy and conformability with safety in near-human environments. Beside conventional fabrication methods, additive manufacturing is a primary technique to employ to fabricate soft robotic devices. We developed a monolithic soft gripper, with variable stiffness fingers, that was fabricated as a onepiece device. Negative pressure was used for the actuation of the gripper while positive pressure was used to vary the stiffness of the fingers of the gripper. Finger bending and gripping capabilities of the monolithic soft gripper were experimentally tested. Finite element simulation and experimental results demonstrate that the proposed monolithic soft gripper is fully compliant, low cost and requires an actuation pressure below -100 kPa. Abstract-Soft robotics has recently gained a significant momentum as a newly emerging field in robotics that focuses on biomimicry, compliancy and conformability with safety in near-human environments. Beside conventional fabrication methods, additive manufacturing is a primary technique to employ to fabricate soft robotic devices. We developed a monolithic soft gripper, with variable stiffness fingers, that was fabricated as a one-piece device. Negative pressure was used for the actuation of the gripper while positive pressure was used to vary the stiffness of the fingers of the gripper. Finger bending and gripping capabilities of the monolithic soft gripper were experimentally tested. Finite element simulation and experimental results demonstrate that the proposed monolithic soft gripper is fully compliant, low cost and requires an actuation pressure below -100 kPa.

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Robot self-assembly by folding: A printed inchworm robot

Cited by 120 publications

References 27 publications

Self-folding shape memory laminates for automated fabrication

Self-folding shape memory laminates for automated fabrication

Self-folding with shape memory composites

A 3D printed monolithic soft gripper with adjustable stiffness

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