DocumentCode
2409850
Title
Programming and controlling self-folding robots
Author
An, Byoungkwon ; Rus, Daniela
Author_Institution
Distrib. Robot. Lab., MIT, Cambridge, MA, USA
fYear
2012
fDate
14-18 May 2012
Firstpage
3299
Lastpage
3306
Abstract
This paper describes a robot in the form of a self-folding sheet that is capable of origami-style autonomous folding. We describe the hardware device we designed and fabricated. The device is a sheet with a box-pleated pattern and an integrated electronic substrate and actuators. The sheet is programmed and controlled to achieve different shapes using an idea called sticker programming. We describe the sticker controller and its instantiation. We also describe the algorithms for programming and controlling a given sheet to self-fold into a desired shape. Finally we present experiments with a 4×4 hardware device and an 8×8 hardware device.
Keywords
control engineering computing; mobile robots; robot programming; actuators; box-pleated pattern; hardware device; integrated electronic substrate; origami-style autonomous folding; self-folding robots; self-folding sheet; sticker controller; sticker programming; Actuators; Algorithm design and analysis; Programming; Robots; Shape; Sockets; Tiles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location
Saint Paul, MN
ISSN
1050-4729
Print_ISBN
978-1-4673-1403-9
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ICRA.2012.6224789
Filename
6224789
Link To Document