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Design Methodology for Constructing Multimaterial Origami Robots and Machines

Related publications (62)

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Mobile Robotic Painting of Texture

Andreas Krause, Majed El Helou

Robotic painting is well-established in controlled factory environments, but there is now potential for mobile robots to do functional painting tasks around the everyday world. An obvious first target for such robots is painting a uniform single color. A s ...

IEEE2019

Wearable Technologies for Embodied Human-Robot Interaction

Carine Rognon

Robotic teleoperation is fundamental to augment the resilience, precision, and force of robots with the cognition of the operator. However, current interfaces, such as joysticks and remote controllers, are often complicated to handle since they require cog ...

EPFL2019

Structural Adaptation through Stiffness Tuning

Gennaro Senatore

Adaptive design strategies have been employed to improve structural performances in terms of load-bearing efficiency and energetic impact as well as to achieve multi-functionality. In this work, we investigate a passive adaptation strategy that employs var ...

2019

Automatic Couplings with Mechanical Overload Protection for Modular Robots

Jamie Paik, Christoph Heinrich Belke

This paper presents an automatic coupling mechanism with mechanical overload protection for use in modular robotic systems. The genderless coupling incorporates a novel safety mechanism that disengages two modules at a pre-defined torque threshold. Several ...

2019

Model-free soft-structure reconstruction for proprioception using tactile arrays

Josephine Anna Eleanor Hughes

Continuum body structures provide unique opportunities for soft robotics, with the infinite degrees of freedom enabling unconstrained and highly adaptive exploration and manipulation. However, the infinite degrees of freedom of continuum bodies makes sensi ...

Institute of Electrical and Electronics Engineers Inc.2019

Modular Reconfigurable Robotics

Jamie Paik

This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be ...

ANNUAL REVIEWS2019

Design of Low-Profile Compliant Transmission Mechanisms

Jamie Paik, Zhenishbek Zhakypov, Frédéric Henri Vaskin Giraud

Robotic origami design allows creating meso-scale robotic systems and mechanisms not limited by degrees of freedom, miniaturization and assembly downsides of conventional transmission mechanisms. However, unlike the traditional rigid approaches, robotic or ...

IEEE2019

Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

Tomislav Horvat

Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...

EPFL2018

A multi-modal hovering and terrestrial robot with adaptive morphology

Dario Floreano, Stefano Mintchev

Most current drones are designed with a static morphology aimed at exploiting a single locomotion mode. This results in limited versatility and adaptability to multi-domain environments, such as those encountered in rescue missions, agriculture and inspect ...

2018

Towards Peak Torque Minimization for Modular Self-folding Robots

Jamie Paik, Christoph Heinrich Belke, Meibao Yao

Modular self-folding robots are versatile systems that can change their own shape from two-dimensional patterns at instant commands. This reconfigurability is commonly restrained by power limitation in autonomous environments. The robotic systems with insu ...

IEEE2018