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Christoph Heinrich Belke

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Publications associées (11)

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Morphological flexibility in robotic systems through physical polygon meshing

Jamie Paik, Kevin Andrew Holdcroft, Christoph Heinrich Belke, Alexander Thomas Sigrist

Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

Berlin2023

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Modular robots hold promise of adaptability, robustness, and versatility. Synchronization of modules is critical; if a module is asynchronous, not only will the robot fail to perform tasks properly, but its behavior may be self-destructive through self-col ...

WILEY2022

3PAC: A Plug-and-Play System for Distributed Power Sharing and Communication in Modular Robots

Jamie Paik, Kevin Andrew Holdcroft, Christoph Heinrich Belke

In modular robotics, there is classically a compromise between coupling complexity and functionality. The mechanical and electrical designs are linked, such that adding electrical features often requires redesigning the mechanical components. However, incr ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

From Modular Origami Robots to Polygon-based Modular Systems: a New Paradigm in Reconfigurable Robotics

Christoph Heinrich Belke

A useful robot is one that fulfils its intended function. In a factory setting, where robots have been used successfully for decades, this function is often singular and clearly defined. Similarly, the surroundings of the robot are mostly known, sterile, a ...

EPFL2020

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

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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

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Reconfigurability in versatile systems of modular robots is achieved by appropriate actuation of their modular units. Optimized distribution of active modules in the modular architecture can significantly reduce cost and energy in the reconfiguration tasks ...

2018

A reconfiguration strategy for modular robots using origami folding

Jamie Paik, Christoph Heinrich Belke, Meibao Yao

Reconfigurability in versatile systems of modular robots is achieved by changing the morphology of the overall structure as well as by connecting and disconnecting modules. Recurrent connectivity changes can cause misalignment that leads to mechanical fail ...

2018

This paper proposes a new robotic platform based on origami robots and reconfigurable modular robots. The concept combines the advantages of both robot types into a mobile, quasi-two-dimensional, lattice-type reconfigurable modular origami robot, Mori. A d ...

Institute of Electrical and Electronics Engineers2017

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There are several challenges in down-sizing robots for transportation deployment, diversification of locomotion capabilities tuned for various terrains, and rapid and on-demand manufacturing. In this paper we propose an origami-inspired method of addressin ...

2017