Session: MR-04-01

Paper Number: 138295

138295 - Rigiccordion Worm - A Linear Two-DOF Origami Robot 

Origami robots offer great potential due to their compliant nature, relative ease of manufacturing, light weight, and safety. They are considered in areas like collaborative robotics, space applications, and search and rescue. It is desirable for an origami robot to be small in size, fast, simple to model, produce, and control. As such, the body of an origami robot should be simple to fold and ideally be linear. One way to achieve both of these properties is to use a simple origami pattern that is rigidly foldable. In this work, a two-degrees-of-freedom (two-DoF) worm robot is presented. The worm body is constructed from a simple rigidly deformable origami pattern, named rigiccordion, which exhibits linear response properties, as well as 3d printed rigid parts. The structure stiffness is experimentally attained for two different types of material (paper and Mylar). The procedure to laser cut the origami fold pattern for a Mylar sheet is presented. Finally, the two-DoF worm robot was designed and tested using the rigiccordion structure for compliance and energy storage. The results show that the two-DoF robot can move horizontally with a speed of 0.615 in/s (0.12 body length/s) and turn at a rate of 1.8 degree/s.

Presenting Author: Mohammad H Hasan Cal Poly

Presenting Author Biography: Mohammad Hasan is an assistant professor of mechanical engineering at California Polytechnic State University, San Luis Obispo (Cal Poly). He earned his BSc degree in mechatronics engineering from Jordan University of Science and Technology (JUST) and his MSc and PhD in mechanical and materials engineering from the University of Nebraska – Lincoln. Prior to joining Cal Poly, he was an assistant professor of robotics engineering at Columbus State University. Hasan’s research focuses on intelligent robotics and mechatronics systems, robotic control, machine learning, neuromorphic computing and dynamical systems.

Authors:

Michael Freeman Cal Poly
Conor Schott Cal Poly
Andrew Carr Cal Poly
Carter Josef Cal Poly
Col Cook Cal Poly
Mohammad H Hasan Cal Poly