Mori: A Modular Origami Robot

This paper proposes a new robotic platform based on origami robots and reconfigurable modular robots. The concept combines the advantages of both robot types into a mobile, quasi-two-dimensional, lattice-type reconfigurable modular origami robot, Mori. A detailed description and analysis of the conc...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 22; no. 5; pp. 2153 - 2164
Main Authors Belke, Christoph H., Paik, Jamie
Format Journal Article
LanguageEnglish
Published New York IEEE 01.10.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
IEEE transactions
Mechatronics
Modular robotics
Modular systems
Modularity
Modules
origami robotics
Prototypes
reconfigurable robotics
Robot sensing systems
Robots
Shape
Three-dimensional displays
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Summary:This paper proposes a new robotic platform based on origami robots and reconfigurable modular robots. The concept combines the advantages of both robot types into a mobile, quasi-two-dimensional, lattice-type reconfigurable modular origami robot, Mori. A detailed description and analysis of the concept is validated by the presentation of a first prototype that incorporates the key functionalities of the proposed system. The modular robot prototype is mobile, can be connected to other modules of its kind, and fold up to create task-specific three-dimensional reconfigurable structures. Three implementations using the prototype in different configurations are presented in the form of individual modules, modular reconfigurable surfaces, and is applied to closed-loop object manipulation. The experiments highlight the capabilities and advantages of the system with respect to modularity, origami-folding, mobility, and versatility.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
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ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2017.2697310