Title :
Fabrication of origami wheel using pattern embedded fabric and its application to a deformable mobile robot
Author :
Dae-Young Lee ; Ji-Suk Kim ; Jae-Jun Park ; Sa-Reum Kim ; Kyu-Jin Cho
Author_Institution :
Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea
fDate :
May 31 2014-June 7 2014
Abstract :
The unique characteristics of origami to realize 3-D shape from 2-D patterns have been fascinating many researchers and engineers. This paper presents a fabrication of origami patterned fabric wheels that can deform and change the radius of the wheels. PVC segments are enclosed in the fabrics to build a tough and foldable structure. A special cable driven mechanism was designed to allow the wheels to deform while rotating. A mobile robot with two origami wheels has been built and tested to show that it can deform its wheels to overcome various obstacles.
Keywords :
cables (mechanical); collision avoidance; deformation; mobile robots; wheels; 3D shape; PVC segments; cable driven mechanism; deformable mobile robot; origami wheel; pattern embedded fabric; polyvinyl chloride; wheel radius; Educational institutions; Fabrication; Fabrics; Mobile robots; Shape; Wheels;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907222
