Robotic metamorphosis by origami exoskeletons
Robotic metamorphosis by origami exoskeletons
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DOI：
10.1126/scirobotics.aao4369
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发表时间：
2017-09-27
期刊：
影响因子：
25
通讯作者：
Rus, Daniela
中科院分区：
文献类型：
--
作者：
Miyashita, Shuhei;Guitron, Steven;Rus, Daniela
通过变形来改变机器人固有的物理能力一直是工程师们长期追求的目标。然而，这项任务是具有挑战性的，因为机器人身体中的物理限制，每个组件都有定义的功能。到目前为止，自重构机器人在现场的可扩展性方面存在局限性，因为当今的单元模块规模很大，并且它们的协调管理非常复杂，严重依赖于机载电子元件。我们提出了一种方法来扩展和改变机器人的能力，通过使用自我折叠的折纸“外骨骼”来实现变形。我们展示了如何使用可控磁场远程移动立方体磁铁“机器人”，并通过与不同的折纸外骨骼接口来分级开发不同的形态。通过加热激活，每个外骨骼从一个矩形薄片上自动折叠，扩展了最初机器人的能力，例如能够操纵物体或在地面、水或空气中移动。被水激活的外骨骼可以被移除，并可以互换。因此，该系统代表端到端(重新)循环。我们还介绍了几种机器人和外骨骼的设计、装置，以及使用外骨骼进行机器人变形的实验。
Changing the inherent physical capabilities of robots by metamorphosis has been a long-standing goal of engineers. However, this task is challenging because of physical constraints in the robot body, each component of which has a defined functionality. To date, self-reconfiguring robots have limitations in their on-site extensibility because of the large scale of today's unit modules and the complex administration of their coordination, which relies heavily on on-board electronic components. We present an approach to extending and changing the capabilities of a robot by enabling metamorphosis using self-folding origami "exoskeletons." We show how a cubical magnet "robot" can be remotely moved using a controllable magnetic field and hierarchically develop different morphologies by interfacing with different origami exoskeletons. Activated by heat, each exoskeleton is self-folded from a rectangular sheet, extending the capabilities of the initial robot, such as enabling the manipulation of objects or locomotion on the ground, water, or air. Activated by water, the exoskeletons can be removed and are interchangeable. Thus, the system represents an end-to-end (re) cycle. We also present several robot and exoskeleton designs, devices, and experiments with robot metamorphosis using exoskeletons.