OrigamiBot-I: A Thread-Actuated Origami Robot for Manipulation and Locomotion Conference Paper

abstract

• This paper presents OrigamiBot-I, a thread-actuated origami robot, to demonstrate a physical application of an origami design for robotic manipulation and locomotion. The selected design can generate twisting and bending motions by pulling, pushing, or torsional force applied to the origami structure. Thread-based actuation also enables various shapes and motions by using different numbers of threads and routing them through different paths. The kinematics for each twisting and bending motions based on estimated parameters is derived. To evaluate potential use of origami for real-world applications and identify structural weaknesses, preliminary stiffness and durability testing was conducted. For physical demonstrations of robotic manipulation and locomotion, OrigamiBot-I was equipped with four independently-routed threads, where each thread is controlled by a geared DC motor. The robot successfully demonstrated its simple manipulation and locomotion capabilities.

name of conference

• 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

authors

• Lee, Kiju

published proceedings

• 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)

author list (cited authors)

• Vander Hoff, E., Jeong, D., & Lee, K.

citation count

• 44

complete list of authors

• Vander Hoff, Evan||Jeong, Donghwa||Lee, Kiju

publication date

• January 2014

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems  Journal

keywords

• Bioengineering

Digital Object Identifier (DOI)

• 10.1109/iros.2014.6942743

start page

• 1421

end page

• 1426

URL

• http://dx.doi.org/10.1109/iros.2014.6942743