Title :
Programming and controlling self-folding robots
Author :
An, Byoungkwon ; Rus, Daniela
Author_Institution :
Distrib. Robot. Lab., MIT, Cambridge, MA, USA
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;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224789
