Title :
Rigid 2D space-filling folds of unbroken linear chains
Author :
Zhong Li ; Balkcom, Devin J. ; Dollar, Aaron M.
Author_Institution :
Dept. of Comput. Sci., Dartmouth Coll., Hanover, NH, USA
Abstract :
This paper presents an algorithm for folding a serial revolute chain into a rigid structure of essentially any desired planar shape. The algorithm is fast (linear in the number of links), and the constructed folding plan only requires an actuation method that sequentially folds triangles as the pattern is laid out, maintaining incremental rigidity of the structure during folding.
Keywords :
robots; shear modulus; 2D space-filling folds; folding; rigid structure; unbroken linear chains; Approximation algorithms; Approximation methods; Lattices; Legged locomotion; Shape; Strips;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6630628
