CumInCAD is a Cumulative Index about publications in Computer Aided Architectural Design
supported by the sibling associations ACADIA, CAADRIA, eCAADe, SIGraDi, ASCAAD and CAAD futures

PDF papers
id ecaadesigradi2019_541
authors Mesa, Olga, Mhatre, Saurabh, Singh, Malika and Aukes, Dan
year 2019
title CREASE - Synchronized Gait Through Folded Geometry.
source Sousa, JP, Xavier, JP and Castro Henriques, G (eds.), Architecture in the Age of the 4th Industrial Revolution - Proceedings of the 37th eCAADe and 23rd SIGraDi Conference - Volume 3, University of Porto, Porto, Portugal, 11-13 September 2019, pp. 197-206
summary Robotics have expanded exponentially in the last decade. Within the vast examples of ambulatory robots, traditional legged robots necessitate engineering expertise and the use of specialized fabrication technologies. Micro electromechanical (MEM) robots are useful for a wide range of applications yet in most cases, difficult to fabricate and excessively intricate. Advances in pop-up laminate construction have generated a model shift in the development of robot morphologies due to their ease of fabrication and scalability from the millimeter to centimeter scale. This research continues to investigate the link between kinematics and pop-up origami structures in robotics. The objective was to design a robot that exhibited efficient and controlled locomotion minimizing number of motors. "Crease", an origami robot that emerges from a two-dimensional sheet into its three-dimensional configuration was developed. By amplifying a simple rotational motion through the geometry of folds in the robot, a complex gait was achieved with minimal motorized actuation. Variations in gait, control, and steering were studied through physical and computational models. Untethered Creases that sense their environment and steer accordingly were developed. This research contributes not only to the field of robotics but also to design where efficiency, adjustability and ease of fabrication are critical.
keywords Digital Fabrication and Robotics, Smart Geometry, Origami Robotics, Laminate Construction.
series eCAADeSIGraDi
full text file.pdf (18,930,967 bytes)
references Content-type: text/plain
Details Citation Select
100%; open Altendorfer, R, Moore, N, Komsuoglu, H, Buehler, M, Brown, HB, McMordie, D, Saranli, U, Full, R and Koditschek, DE (2001) Find in CUMINCAD RHex: A Biologically Inspired Hexapod Runner , Autonomous Robots, 11(3), pp. 207-213

100%; open Aukes, DM, Goldberg, B, Cutkosky, MR and Wood, RJ (2014) Find in CUMINCAD An analytic framework for developing inherently-manufacturable pop-up laminate devices , Smart Materials and Structures, 23(9), p. 94013

100%; open Bowen, LA, Grames, CL, Magleby, SP, Howell, LL and Lang, RJ (2013) Find in CUMINCAD A Classification of Action Origami as Systems of Spherical Mechanisms , Journal of Mechanical Design, 135(11), p. 111008

100%; open Cybulski, JS, Clements, J and Prakash, M (2014) Find in CUMINCAD Foldscope: origami-based paper microscope , PLoS ONE, 9(6), p. e98781

100%; open Felton, S, Tolley, M, Demaine, E, Rus, D and Wood, R (2014) Find in CUMINCAD Applied origami. A method for building self-folding machines , Science (New York, N.Y.), 345(6197), p. 644

100%; open Ghassaei, A, Demaine, ED and Gershenfeld, N (2018) Find in CUMINCAD Fast, Interactive Origami Simulation using (GPU) Computation , Proceedings of the 7th International Meeting on Origami in Science, Mathematics and Education (OSME 2018), 7, pp. 1-10

100%; open Haldane, D, Casarez, CS, Karras, J, Lee, J, Li, C, Pullin, A, Schaler, E, Yun, D, Ota, H, Javey, A and Fearing, R (2015) Find in CUMINCAD Integrated Manufacture of Exoskeletons and Sensing Structures for Folded Millirobots , Journal Of Mechanisms And Robotics-Transactions Of The Asme, 7(2), pp. 021011-1,021011-19

100%; open Hubicki, C, Grimes, J, Jones, M, Renjewski, D, Spr÷witz, A, Abate, A and Hurst, J (2016) Find in CUMINCAD ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot , The International Journal of Robotics Research, 35(12), pp. 1497-1521

100%; open Jung, G, Choi, H and Cho, K (2017) Find in CUMINCAD The effect of leg compliance in multi-directional jumping of a flea-inspired mechanism , Bioinspiration & Biomimetics, 12(2), p. 26006

100%; open Khoramshahi, M, Spr÷witz, A, Tuleu, A, Ahmadabadi, MN and Ijspeert, AJ (2013) Find in CUMINCAD Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot , 2013 IEEE International Conference on Robotics and Automation, pp. 3329-3334

100%; open Lang, RJ (2011) Find in CUMINCAD Origami Design Secrets: Mathematical Methods for an Ancient Art, Second Edition , A K Peters

100%; open Mehta, A, Delpreto, J and Rus, D (2015) Find in CUMINCAD Integrated Codesign of Printable Robots , Journal Of Mechanisms And Robotics-Transactions Of The Asme, 7(2), pp. 021015-1, 021015-10

100%; open Miyashita, S, Guitron, S, Ludersdorfer, M, Sung, CR and Rus, D (2015) Find in CUMINCAD An untethered miniature origami robot that self-folds, walks, swims, and degrades , 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 1490-1496

100%; open Mulgaonkar, Y, Araki, B, Koh, J, Guerrero-Bonilla, L, Aukes, DM, Makineni, A, Tolley, MT, Rus, D, Wood, RJ and Kumar, V (2016) Find in CUMINCAD The flying monkey: A mesoscale robot that can run, fly, and grasp , 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 4672-4679

100%; open Nelson, G, Saunders, A, Neville, N, Swilling, B, Bondaryk, J, Billings, D, Lee, C, Playter, R and Raibert, M (2012) Find in CUMINCAD PETMAN: A Humanoid Robot for Testing Chemical Protective Clothing , Journal of the Robotics Society of Japan, 30(4), pp. 372-377

100%; open Niiyama, R, Rus, D and Kim, S (2014) Find in CUMINCAD Pouch Motors: Printable/inflatable soft actuators for robotics , 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 6332-6337

100%; open Niiyama, R, Sun, X, Yao, L, Ishii, H, Rus, D and Kim, S (2015) Find in CUMINCAD Sticky Actuator: Free-Form Planar Actuators for Animated Objects , Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction, New York, NY, USA, pp. 77-84

100%; open Ozevin, D (2014) Find in CUMINCAD 10 - Micro-electro-mechanical-systems (MEMS) for assessing and monitoring civil infrastructures , Wang, ML, Lynch, JP and Sohn, HBTSTfCI (eds), Woodhead Publishing Series in Electronic and Optical Materials, Woodhead Publishing, pp. 265-302e

100%; open Perlmutter, M and Breit, S (2016) Find in CUMINCAD The future of the MEMS inertial sensor performance, design and manufacturing , 2016 DGON Intertial Sensors and Systems (ISS), pp. 1-12

100%; open Pister, KSJ, Judy, MW, Burgett, SR and Fearing, RS (1992) Find in CUMINCAD Microfabricated hinges , Sensors & Actuators: A. Physical, 33(3), pp. 249-256

last changed 2019/08/26 20:28
pick and add to favorite papersHOMELOGIN (you are user _anon_43231 from group guest) CUMINCAD Papers Powered by SciX Open Publishing Services 1.002