CurveQuad: A Centimeter-Scale Origami Quadruped that Leverages Curved Creases to Self-Fold and Crawl with One Motor
CurveQuad: A Centimeter-Scale Origami Quadruped that Leverages Curved Creases to Self-Fold and Crawl with One Motor
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DOI：
10.1109/iros55552.2023.10342339
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发表时间：
2023-10
期刊：
影响因子：
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通讯作者：
Daniel Feshbach;Xuelin Wu;Satviki Vasireddy;Louis Beardell;Bao To;Yuliy M. Baryshnikov;Cynthia R. Sung
中科院分区：
文献类型：
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作者：
Daniel Feshbach;Xuelin Wu;Satviki Vasireddy;Louis Beardell;Bao To;Yuliy M. Baryshnikov;Cynthia R. Sung
我们展示了CurveQuad，一种微型弯曲折纸四足动物，它能够自动折叠和展开、爬行和转向，所有这些都使用一个执行器。CurveQuad是为平面制造而设计的，零件按顺序附着并堆叠在一个扁平的主体上。该设计使用4个弯曲的折痕，由2对肌腱从270°伺服上的一个连杆的两端拉出。它最长的方向是8厘米，重10.9克。旋转牛角将肌腱向内拉以诱导折叠。继续旋转喇叭将剪切机器人，使机器人能够向前拖着脚步向前移动，同时向任何一个方向旋转。我们通过改变喇叭旋转的大小来实验验证机器人的折叠、转向和展开的能力。我们还演示了基本的反馈控制，通过从不同的起始位置和方向转向光源，并通过让4个机器人同时转向灯光来进行群体聚集。研究结果表明，曲折折纸在具有复杂运动等复杂运动的机器人自组装和可展开方面具有潜在的应用前景。
We present CurveQuad, a miniature curved origami quadruped that is able to self-fold and unfold, crawl, and steer, all using a single actuator. CurveQuad is designed for planar manufacturing, with parts that attach and stack sequentially on a flat body. The design uses 4 curved creases pulled by 2 pairs of tendons from opposite ends of a link on a 270°servo. It is 8 cm in the longest direction and weighs 10.9 g. Rotating the horn pulls the tendons inwards to induce folding. Continuing to rotate the horn shears the robot, enabling the robot to shuffle forward while turning in either direction. We experimentally validate the robot's ability to fold, steer, and unfold by changing the magnitude of horn rotation. We also demonstrate basic feedback control by steering towards a light source from a variety of starting positions and orientations, and swarm aggregation by having 4 robots simultaneously steer towards the light. The results demonstrate the potential of using curved crease origami in self-assembling and deployable robots with complex motions such as locomotion.