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Paper WeD03.3

An, Byoungkwon (MIT, CSAIL), Rus, Daniela (MIT)

Programming and Controlling Self-Folding Sheets

Scheduled for presentation during the Regular Session "Modular Robots & Multi-Agent Systems" (WeD03), Wednesday, May 16, 2012, 17:00−17:15, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Cellular and Modular Robots, Control Architectures and Programming, Soft Material Robotics

Abstract

This paper describes a robot in the form of a self-folding sheet that is capable of origami-style autonomous folding. We describe the hardware device we designed and fabricated. The device is a sheet with a box-pleated pattern and an integrated electronic substrate and actuators. The sheet is programmed and controlled to achieve different shapes using an idea called sticker programming. We describe the sticker controller and its instantiation. We also describe the algorithms for programming and controlling a given sheet to self-fold into a desired shape. Finally we present experiments with a 4x4 hardware device and an 8x8 hardware device.

 

 

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