Development of an origami-based robot molting structure

Inspired by the molting behavior of living organisms, this paper describes a molting robot structure with a self-repair function. In past robot self-repair methods, the strength after repair was usually lower than before the repair. To realize a robot that can repeatedly repair its exterior while ma...

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Bibliographic Details
Published inArtificial life and robotics Vol. 28; no. 4; pp. 645 - 651
Main Authors Miyamoto, Aiko, Matsumoto, Mitsuharu
Format Journal Article
LanguageEnglish
Published Tokyo Springer Japan 01.11.2023
Springer Nature B.V
Subjects
Artificial Intelligence
Computation by Abstract Devices
Computer Science
Control
Honeycomb structures
Mechatronics
Molting
Original Article
Robotics
Robots
Bellows
Molting
Biomimetics
Honeycomb
Self-repairing robots
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Summary:Inspired by the molting behavior of living organisms, this paper describes a molting robot structure with a self-repair function. In past robot self-repair methods, the strength after repair was usually lower than before the repair. To realize a robot that can repeatedly repair its exterior while maintaining its quality, the replacement exterior that becomes the new outer skin is folded like origami and enclosed inside the robot. During the repair, the outer exterior can be replaced by extracting the replacement exterior from inside the robot. A prototype of the proposed molting structure was experimentally tested and its proper operation was confirmed. In addition, a honeycomb structure was combined with a bellows structure to improve the strength of the outer skin.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-023-00884-w