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A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori

Meng Yu, Weimin Yang, Yuan Yu, Xiang Cheng, Zhiwei Jiao
2020 Actuators  
In this paper, we design a crawling robot driven by pneumatic foldable actuators (PFAs) based on Miura-ori, according to the parallel foldable structure and different control patterns, which can perform  ...  The crawling robot uses the ability of the foldable structure to cope with the challenges of different environments and tasks.  ...  robot.  ... 
doi:10.3390/act9020026 fatcat:dqpm7rk4ezabrbwbh4egy7zupy

Design and operation of MinIAQ: An untethered foldable miniature quadruped with individually actuated legs

Cem Karakadioglu, Mohammad Askari, Onur Ozcan
2017 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)  
In an effort to addressing this need, the primitive foldable design patterns of MinIAQ for higher structural integrity and rigidity are presented in detail.  ...  However, there is still a need for improvement in modulating and extending the design standards of origami robots.  ...  ACKNOWLEDGMENTS The authors would like to thank every group member of Bilkent Microrobotics Laboratory for their assistance throughout this project.  ... 
doi:10.1109/aim.2017.8014025 dblp:conf/aimech/KarakadiogluAO17 fatcat:a2svbmnblbh7xky6h3jxzhgvia

MiniCoRe: A Miniature, Foldable, Collision Resilient Quadcopter

Levent Dilaveroglu, Onur Ozcan
2020 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)  
In this work, a mechanically compliant quadcopter design using origami-inspired foldable robotics methods with protective shock absorbing elements has been proposed for a collision resilient quad-rotor  ...  Index Terms-Soft Robot Materials and Design, Soft Robots, Flexible Robots, Miniature Robots, Unmanned Air Vehicles, Micro Air Vehicle. 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)  ...  ACKNOWLEDGMENTS The authors would like to thank Amirali Abazari and Osman Afandiyev for their help in this work.  ... 
doi:10.1109/robosoft48309.2020.9115993 dblp:conf/robosoft/DilaverogluO20 fatcat:ndrbh3wjondqrm2mdjb43jf3ny

Foldable Joints for Foldable Robots [chapter]

Cynthia Sung, Daniela Rus
2015 Springer Tracts in Advanced Robotics  
Print-and-fold manufacturing has the potential to democratize access to robots with robots that are easier to fabricate using materials that are easier to procure.  ...  In this paper, we show how the basic joints used in robots can be constructed using print-and-fold.  ...  We thank Vijay Kumar for helpful comments and suggestions, and Thomas Bertossi for his assistance with force and torque measurements.  ... 
doi:10.1007/978-3-319-23778-7_28 fatcat:4yhqyemuhraj5ckcl242dswtae

Miniature Modular Legged Robot with Compliant Backbones

Nima Mahkam, Alihan Bakir, Onur Ozcan
2020 IEEE Robotics and Automation Letters  
Soft Modular Legged Robot (SMoLBot) is a miniature, foldable, modular, soft-hybrid legged robot with compliant backbones.  ...  SMoLBot is exploiting features from origami-inspired robots and soft robots, such as low weight and low cost foldable rigid structures and adaptable soft connection mechanisms made out of PDMS.  ...  ACKNOWLEDGMENT The authors would like to thank Ömer Başar Özgüven, Talip Batuhan Yılmaz, Mohammad Askari and members of Bilkent Miniature Robotics Laboratory for their invaluable assistance throughout  ... 
doi:10.1109/lra.2020.2982362 fatcat:fgjshgsklbd27macyojgb7pyxe

The Effect of Large Deflections of Joints on Foldable Miniature Robot Dynamics

Cem Karakadıoğlu, Mohammad Askari, Onur Özcan
2020 Journal of Intelligent and Robotic Systems  
Our results demonstrate the modeling accuracy of the two approaches and can be used by foldable robotics community when deciding on the strategy to choose for modeling their robots.  ...  The work is also extended to estimate the compliant leg kinematics and rigid body dynamics of a foldable robot.  ...  Acknowledgements The authors would like to thank all members of Bilkent Miniature Robotics Laboratory for their invaluable contributions to this work.  ... 
doi:10.1007/s10846-020-01169-1 fatcat:b3ei5nsu2bc4zd7pnpvionuuou

ElectroPaper: Design and Fabrication of Paper-Based Electronic Interfaces for the Water Environment

Lijuan Liu, Jiahao Guo, Chao Zhang, Zhangzhi Wang, Pinqi Zhu, Tuo Fang, Junwu Wang, Cheng Yao, Fangtian Ying
2021 Electronics  
with a crease layer, hardware distribution layer, and hollow-out layer to support physical properties, such as waterproofing, foldability, and conformability.  ...  ElectroPaper provides an inexpensive and effective medium for the fabrication of customized digital prototypes for water environment use.  ...  In the future, we will improve the foldability of paper circuits by adding foldable, flexible printed circuit boards, and using soft waterproof shells.  ... 
doi:10.3390/electronics10050604 doaj:a89d74efce3b4b38be88447dc182dee0 fatcat:fja3zjp3yngjtlrxnxtv5xlwc4


Simon Olberding, Sergio Soto Ortega, Klaus Hildebrandt, Jürgen Steimle
2015 Proceedings of the 28th Annual ACM Symposium on User Interface Software & Technology - UIST '15  
for printed electronics.  ...  Foldios combine the advantages of folding for thin, lightweight and shapechanging objects with the strengths of thin-film printed electronics for embedded sensing and output.  ...  Folding is routinely applied for 3D objects in a variety of domains, ranging from mundane packaging to sophisticated origami or foldable structures in robotics.  ... 
doi:10.1145/2807442.2807494 dblp:conf/uist/OlberdingOHS15 fatcat:c5saddu55bdqjjdnhoqfwudika

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

Zhenishbek Zhakypov, Mohsen Falahi, Manan Shah, Jamie Paik
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
For one of them, we used the "traditional", monolithic, layerby-layer robogami fabrication method and the second, we printed out most parts using a multi-material 3D printer.  ...  The embedded sensors allow Tribot's crawling gait pattern and jumping height to be modulated with a closed loop control.  ...  sensors and environmental sensing tools for providing more details about the status of the robot and surrounding environment (see Fig. 7 ).  ... 
doi:10.1109/iros.2015.7353994 dblp:conf/iros/ZhakypovFSP15 fatcat:mvleuq4ysvbtxou6ume6xqj7yi

Geometry-aware Compensation Scheme for Morphing Drones [article]

Amedeo Fabris, Kevin Kleber, Davide Falanga, Davide Scaramuzza
2020 arXiv   pre-print
We perform experiments to characterize such effects and design a morphology-aware control scheme to account for them.  ...  Morphing multirotors, such as the Foldable Drone , can increase the versatility of drones employing in-flight-adaptive-morphology.  ...  Fig. 2 : 2 Pictures of our experimental setup: (a) ATI Mini40 load cell and PSU that we used for all our measurements; (b) the 3D printed partial occlusions which replicate the foldable drone scenario.  ... 
arXiv:2003.03929v1 fatcat:z24y2rj3avbk5np4x32wkblpba

An Origami Flexiball-Inspired Metamaterial Actuator and Its In-Pipe Robot Prototype

Fuwen Hu, Tian Li
2021 Actuators  
In conclusion, this research provides a newly interesting and illuminating member for the emerging families of mechanical metamaterials, soft actuators and soft robots.  ...  Further, we redesign and fabricate the three-dimensional (3D) printable structures of origami flexiballs considering their 3D printability and foldability, and magnetically actuated them through the attachment  ...  Besides robotic fields, many more applications in other interesting fields are expected, such as soft deformation sensors, transformable buildings, optical instruments with foldable long-focal-length and  ... 
doi:10.3390/act10040067 fatcat:5bgzudsyqfh6pfwjgsdbfxvnje

Adaptive Morphology: A Design Principle for Multimodal and Multifunctional Robots

Stefano Mintchev, Dario Floreano
2016 IEEE robotics & automation magazine  
Soft Technologies for Adaptive Morphology Soft technologies have recently emerged at the frontier of materials science and robotics [1] .  ...  Adaptive morphology is also a viable solution to endow robots with additional functionalities, such as transportability, protection, and variable gearing.  ...  Acknowledgments This work was supported by the Swiss National Science Foundation through the Swiss National Center of Competence in Research Robotics (NCCR Robotics).  ... 
doi:10.1109/mra.2016.2580593 fatcat:nted2afc5bgmvdt7oftuv7ht5q

A pocket sized foldable quadcopter for situational awareness and reconnaissance

S. Mintchev, D. Floreano
2016 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)  
The quadcopter can be packaged for transportation by folding its arms and it self-deploys in a glimpse before usage.  ...  With this aim, we present a pocket sized foldable quadcopter equipped with a camera.  ...  This work was supported by the Swiss National Science Foundation through the National Centre of Competence in Research Robotics (NCCR Robotics).  ... 
doi:10.1109/ssrr.2016.7784333 dblp:conf/ssrr/MintchevF16 fatcat:hn6akrs3sfby5phdqtne26n6tu

Bioinspired dual-stiffness origami

Stefano Mintchev, Jun Shintake, Dario Floreano
2018 Science Robotics  
Origami manufacturing has led to considerable advances in the field of foldable structures with innovative applications in robotics, aerospace, and metamaterials.  ...  In addition, we demonstrate an origami gripper that can be used for rigid grasping but softens to avoid overloading of the manipulated objects.  ...  We validated this design principle in two robotic systems: (i) a foldable frame for a hovering drone, which can sustain the drone weight within its flight envelope, undergo large deformation when folding  ... 
doi:10.1126/scirobotics.aau0275 pmid:33141731 fatcat:w3fyardscfcj5bhb63d5g7xs4e

PufferBot: Actuated Expandable Structures for Aerial Robots [article]

Hooman Hedayati, Ryo Suzuki1, Daniel Leithinger, Daniel Szafir
2020 arXiv   pre-print
We propose four designs for the expandable structure, each with unique characterizations for different situations.  ...  We present PufferBot, an aerial robot with an expandable structure that may expand to protect a drone's propellers when the robot is close to obstacles or collocated humans.  ...  For example, our work draws inspiration from research that explores dynamic propeller shells [31] , foldable drone frames [32] , and origami-inspired mechanisms for aerial robots [33], [34] (Fig.  ... 
arXiv:2008.07615v1 fatcat:qksb6lfutff2rm7odtdz3bbgbu
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