Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 22, Issue 5, Pages 2153-2164Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2017.2697310
Keywords
Modular robotics; origami robotics; reconfigurable robotics
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Funding
- Swiss National Science Foundation START project
- Swiss National Centre of Competence in Research (NCCR) in Robotics
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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 detailed description and analysis of the concept is validated by the presentation of a first prototype that incorporates the key functionalities of the proposed system. The modular robot prototype is mobile, can be connected to other modules of its kind, and fold up to create task-specific three-dimensional reconfigurable structures. Three implementations using the prototype in different configurations are presented in the form of individual modules, modular reconfigurable surfaces, and is applied to closed-loop object manipulation. The experiments highlight the capabilities and advantages of the system with respect to modularity, origami-folding, mobility, and versatility.
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