Leaf-like Origami with Bistability for Self-Adaptive Grasping Motions
Leaf-like Origami with Bistability for Self-Adaptive Grasping Motions
复制标题
自适应抓取运动的双稳态叶状折纸
DOI：
10.1089/soro.2021.0008
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发表时间：
2020-11
期刊：
影响因子：
7.9
通讯作者：
H. Yasuda;Kyle Johnson;Vicente Arroyos;Koshiro Yamaguchi;J. Raney;Jinkyu Yang
中科院分区：
文献类型：
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作者：
H. Yasuda;Kyle Johnson;Vicente Arroyos;Koshiro Yamaguchi;J. Raney;Jinkyu Yang
树叶状的折纸结构的灵感来自于自然界中发现的几何图案，展示了开放和闭合形状之间的独特过渡。有了双稳能量景观，树叶状的折纸能够复制在金星捕蝇器等生物系统中观察到的对物体的自主抓取。我们展示了树叶状折纸的均匀抓取运动，以及由于其多变形性质而产生的各种不均匀抓取运动。由于该结构的双稳态能量景观，可以触发高可调整性的抓取运动。我们通过将目标对象放在纸上原型来演示自适应抓取运动，这不需要外部电源来保持对对象的捕获。我们还通过选择性地控制折痕来探索树叶状结构的非均匀抓取运动，揭示了各种独特的抓取结构，可以用于多功能、自主和自适应的机器人操作。
The leaf-like origami structure is inspired by geometric patterns found in nature, exhibiting unique transitions between open and closed shapes. With a bistable energy landscape, leaf-like origami is able to replicate the autonomous grasping of objects observed in biological systems such as the Venus flytrap. We show uniform grasping motions of the leaf-like origami, as well as various nonuniform grasping motions that arise from its multitransformable nature. Grasping motions can be triggered with high tunability due to the structure's bistable energy landscape. We demonstrate the self-adaptive grasping motion by dropping a target object onto our paper prototype, which does not require an external power source to retain the capture of the object. We also explore the nonuniform grasping motions of the leaf-like structure by selectively controlling the creases, which reveals various unique grasping configurations that can be exploited for versatile, autonomous, and self-adaptive robotic operations.