Intelligent robotic systems that can react to unprogrammed tasks and unforeseen environmental changes require augmented “softness.” Robogami, a low-profile origami robot, addresses intrinsic (material-wise) and extrinsic (mechanism-wise) softness with its multi-degree-of-freedom (DOF) body driven by soft actuators. The unique hardware of the Robogami and its submillimeter thick construction enable diverse transformations as those achievable by the paper origami. The presented Robogami shows the first fully integrated version that has all the essential components including its controller within a thin sheet. Construction of this robot is possible via precise, repeatable, and low cost planar fabrication methods often reserved for microscale fabrications. In this research, we aim at expanding the capabilities of Robogamis by embedding bidirectional actuation, sensing, and control circuit. To assess the performance of the proposed sensors and actuators, we report on the performance of these components in a single module and in the four-legged crawler robot.
Issue Section:
Research Papers
References
1.
Firouzeh
, A.
, Ozmaeian
, M.
, Alasty
, A.
, and Iraji zad
, A.
, 2012
, “An IPMC-Made Deformable-Ring-Like Robot
,” Smart Mater. Struct.
, 21
(6
), p. 065011
.10.1088/0964-1726/21/6/0650112.
Matsuda
, T.
, and Murata
, S.
, 2006
, “Stiffness Distribution Control—Locomotion of Closed Link Robot With Mechanical Softness
,” IEEE International Conference on Robotics and Automation
(ICRA 2006
), Orlando, FL, May 15–19, pp. 1491
–1498
.10.1109/ROBOT.2006.16419193.
Song
, Y. S.
, Sun
, Y.
, van den Brand
, R.
, von Zitzewitz
, J.
, Micera
, S.
, Courtine
, G.
, and Paik
, J.
, 2013
, “Soft Robot for Gait Rehabilitation of Spinalized Rodents
,” IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS
), Toyko, Japan, Nov. 3–7, pp. 971
–976
.10.1109/IROS.2013.66964684.
Kim
, S.
, Laschi
, C.
, and Trimmer
, B.
, 2013
, “Soft Robotics: A Bioinspired Evolution in Robotics
,” Trends Biotechnol.
, 31
(5
), pp. 287
–294
.10.1016/j.tibtech.2013.03.0025.
Huai-Ti
, L.
, Gary
, G. L.
, and Barry
, T.
, 2011
, “Goqbot: A Caterpillar-Inspired Soft-Bodied Rolling Robot
,” Bioinspiration Biomimetics
, 6
(2
), p. 026007
.10.1088/1748-3182/6/2/0260076.
Hines
, L.
, Arabagi
, V.
, and Sitti
, M.
, 2012
, “Shape Memory Polymer-Based Flexure Stiffness Control in a Miniature Flapping-Wing Robot
,” IEEE Trans. Rob.
, 28
(4
), pp. 987
–990
.10.1109/TRO.2012.21973137.
Felton
, S.
, Tolley
, M.
, Onal
, C.
, Rus
, D.
, and Wood
, R.
, 2013
, “Robot Self-Assembly by Folding: A Printed Inchworm Robot
,” International Conference on Robotics and Automation
(ICRA
), Karlsruhe, Germany, May 6–10, pp. 277
–282
.10.1109/ICRA.2013.66305888.
Noh
, M.
, Kim
, S.-W.
, An
, S.
, Koh
, J.-S.
, and Cho
, K.-J.
, 2012
, “Flea-Inspired Catapult Mechanism for Miniature Jumping Robots
,” IEEE Trans. Rob.
, 28
(5
), pp. 1007
–1018
.10.1109/TRO.2012.21985109.
Martinez
, R. V.
, Fish
, C. R.
, Chen
, X.
, and Whitesides
, G. M.
, 2012
, “Elastomeric Origami Programmable Paper-Elastomer Composites as Pneumatic Actuators
,” Adv. Funct. Mater.
, 22
(7
), pp. 1376
–1384
.10.1002/adfm.20110297810.
Onal
, C. D.
, Wood
, R. J.
, and Rus
, D.
, 2011
, “Towards Printable Robotics: Origami-Inspired Planar Fabrication of Three-Dimensional Mechanisms
,” IEEE International Conference on Robotics and Automation
(ICRA
), Shanghai, May 9–13, pp. 4608
–4613
.10.1109/ICRA.2011.598013911.
An
, B.
, and Rus
, D.
, 2012
, “Programming and Controlling Self-Folding Robots
,” IEEE International Conference on Robotics and Automation
(ICRA
), St. Paul, MN, May 14–18, pp. 3299
–3306
.10.1109/ICRA.2012.622478912.
Paik
, J.
, An
, B.
, Rus
, D.
, and Wood
, R. J.
, 2011
, “Robotic Origamis: Self-Morphing Modular Robots
,” 2nd International Conference on Morphological Computation
(ICMC
), Venice, Italy, Sept. 12–14.13.
Firouzeh
, A.
, Sun
, Y.
, Lee
, H.
, and Paik
, J.
, 2013
, “Sensor and Actuator Integrated Low-Profile Robotic Origami
,” 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS
), Tokyo, Japan, Nov. 3–7, pp. 4937
–4944
.10.1109/IROS.2013.669706914.
Benbernou
, N.
, Demaine
, E. D.
, Demaine
, M. L.
, and Ovadya
, A.
, 2009
, “A Universal Crease Pattern for Folding Orthogonal Shapes
,” arXiv:0909.5388.15.
Paik
, J.
, Hawkes
, E.
, and Wood
, R.
, 2010
, “A Novel Low-Profile Shape Memory Alloy Torsional Actuator
,” Smart Mater. Struct.
, 19
(12
), p. 125014
.10.1088/0964-1726/19/12/12501416.
Torres-Jara
, E.
, Gilpin
, K.
, Karges
, J.
, Wood
, R. J.
, and Rus
, D.
, 2010
, “Compliant Modular Shape Memory Alloy Actuators
,” IEEE Rob. Autom. Mag.
, 17
(4
), pp. 78
–87
.10.1109/MRA.2010.93884517.
Paik
, J. K.
, and Wood
, R. J.
, 2012
, “A Bidirectional Shape Memory Alloy Folding Actuator
,” Smart Mater. Struct.
, 21
(6
), p. 065013
.10.1088/0964-1726/21/6/06501318.
Nishida
, M.
, Tanaka
, K.
, and Wang
, H. O.
, 2006
, “Development and Control of a Micro Biped Walking Robot Using Shape Memory Alloys
,” IEEE International Conference on Robotics and Automation
(ICRA 2006
), Orlando, FL, May 15–19, pp. 1604
–1609
.10.1109/ROBOT.2006.164193619.
Matsumoto
, Y.
, Nakanishi
, H.
, and Hirai
, S.
, 2008
, “Rolling Locomotion of a Deformable Soft Robot With Built-In Power Source
,” 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
(CLAWAR 2008
), Coimbra, Portugal, Sept. 8–10, pp. 365
–372
.10.1142/9789812835772_004420.
Mingyen
, H.
, McMillan
, A. B.
, Simard
, J. M.
, Gullapalli
, R.
, and Desai
, J. P.
, 2012
, “Toward a Meso-Scale SMA-Actuated MRI-Compatible Neurosurgical Robot
,” IEEE Trans. Rob.
, 28
(1
), pp. 213
–222
.10.1109/TRO.2011.216537121.
Hawkes
, E.
, An
, B.
, Benbernou
, N. M.
, Tanaka
, H.
, Kim
, S.
, Demaine
, E. D.
, Rus
, D.
, and Wood
, R. J.
, 2010
, “Programmable Matter by Folding
,” Proc. Natl. Acad. Sci.
, 107
(28
), pp. 12441
–12445
.10.1073/pnas.091406910722.
Paik
, J. K.
, Kramer
, R. K.
, and Wood
, R. J.
, 2011
, “Stretchable Circuits and Sensors for Robotic Origami
,” IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS
), San Francisco, CA, Sept. 25–30, pp. 414
–420
.10.1109/IROS.2011.609474623.
Kramer
, R. K.
, Majidi
, C.
, Sahai
, R.
, and Wood
, R. J.
, 2011
, “Soft Curvature Sensors for Joint Angle Proprioception
,” IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS
), San Francisco, CA, Sept. 25–30, pp. 1919
–1926
.10.1109/IROS.2011.609470124.
Rosset
, S.
, and Shea
, H.
, 2013
, “Flexible and Stretchable Electrodes for Dielectric Elastomer Actuators
,” Appl. Phys. A
, 110
(2
), pp. 281
–307
.10.1007/s00339-012-7402-825.
Avalon
, T. D.
, Fuller
, R.
, Gentile
, C. T.
, Goodman
, S.
, Hall
, T.
, and Wallace
, M.
, 1992
, “Angular Displacement Sensors
,” U.S. Patent No. 5,086,785.26.
Hoover
, A. M.
, Steltz
, E.
, and Fearing
, R. S.
, 2008
, “RoACH: An Autonomous 2.4g Crawling Hexapod Robot
,” IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS 2008
), Nice, France, Sept. 22–26, pp. 26
–33
.10.1109/IROS.2008.465114927.
Koh
, J.-S.
, and Cho
, K.-J.
, 2009
, “Omegabot: Biomimetic Inchworm Robot Using SMA Coil Actuator and Smart Composite Microstructures (SCM)
,” IEEE International Conference on Robotics and Biomimetics
(ROBIO
), Guilin, China, Dec. 19–23, pp. 1154
–1159
.10.1109/ROBIO.2009.542075228.
Wood
, R. J.
, Avadhanula
, S.
, Sahai
, R.
, Steltz
, E.
, and Fearing
, R. S.
, 2008
, “Microrobot Design Using Fiber Reinforced Composites
,” ASME J. Mech. Des.
, 130
(5
), p. 052304
.10.1115/1.288550929.
Lu
, Z. K.
, and Weng
, G. J.
, 1998
, “A Self-Consistent Model for the Stress-Strain Behavior of Shape-Memory Alloy Polycrystals
,” Acta Mater.
, 46
(15
), pp. 5423
–5433
.10.1016/S1359-6454(98)00203-130.
Johnson Matthey Medical, 2015, “
Nitinol Technical Properties
,” Johnson Matthey Inc., West Chester, PA, http://jmmedical.com/resources/221/Nitinol-Technical-Properties.htmlCopyright © 2015 by ASME
You do not currently have access to this content.
