000230280 001__ 230280
000230280 005__ 20180317095030.0
000230280 0247_ $$2doi$$a10.1109/IROS.2017.8206445
000230280 037__ $$aCONF
000230280 245__ $$aTribot: A Deployable, Self-Righting and Multi-Locomotive Origami Robot
000230280 269__ $$a2017
000230280 260__ $$c2017
000230280 336__ $$aConference Papers
000230280 520__ $$aThere are several challenges in down-sizing robots for transportation deployment, diversification of locomotion capabilities tuned for various terrains, and rapid and on-demand manufacturing. In this paper we propose an origami-inspired method of addressing these key issues by designing and manufacturing a foldable, deployable, and self-righting version of the origami robot Tribot. Our latest Tribot prototype can jump as high as 215 mm, five times its height, and roll consecutively on any of its edges with an average step size of 55 mm. The 4 g robot self-deploys nine times of its size when released. A compliant roll cage ensures that the robot self-rights onto two legs after jumping or being deployed and also protects the robot from impacts. A description of our prototype and its design, locomotion modes, and fabrication is followed by demonstrations of its key features.
000230280 6531_ $$aOrigami robots
000230280 6531_ $$aMulti-modal locomotion
000230280 6531_ $$aDeployable systems
000230280 700__ $$0249214$$aZhakypov, Zhenishbek$$g238389
000230280 700__ $$0249268$$aBelke, Christoph$$g260069
000230280 700__ $$0246476$$aPaik, Jamie$$g218367
000230280 7112_ $$aIEEE International Conference on Intelligent Robots and Systems (IROS)$$cVancouver, BC$$dSeptember 24-28
000230280 909CO $$ooai:infoscience.tind.io:230280$$pSTI$$pconf
000230280 909C0 $$0252462$$pRRL$$xU12520
000230280 917Z8 $$x238389
000230280 917Z8 $$x238389
000230280 917Z8 $$x238389
000230280 937__ $$aEPFL-CONF-230280
000230280 973__ $$aEPFL$$rREVIEWED$$sACCEPTED
000230280 980__ $$aCONF