000268044 001__ 268044
000268044 005__ 20190812204805.0
000268044 0247_ $$2doi$$a10.1109/ROBOSOFT.2019.8722798
000268044 037__ $$aCONF
000268044 245__ $$aProgrammable Fluidic Networks Design for Robotic Origami Sequential Self-Folding
000268044 260__ $$c2019-05-27
000268044 269__ $$a2019-05-27
000268044 300__ $$a7
000268044 336__ $$aConference Papers
000268044 520__ $$aSelf-folding enables compact, deployable and reconfigurable structures for close and far remote applications. As the degree-of-freedom in achieving folded shapes is dictated by the number of actuators, distributed on a quasi-2-D lattice, their design remains challenging in terms of size, weight, efficiency, repeatability and fabrication. While the traditional electric motors are difficult to downscale and assemble, the active material-based actuators consume high power and are limited by slow and irreversible motions. Here we present a new selective fluid-driven actuation and embedment method for constructing multi-creased, self-folding and reversible robotic origami structures. Our design enables an underactuated, yet a distributed control of origami hinges with single and multi-step folding sequence by programming the fluidic networks. The proposed tunable fluidic actuator-channel networks are compactly embedded in a rapid multi-layer lamination process with minimal assembly. We provide an analytic model for the folding actuator unit, validate it with several prototypes and demonstrate its integration into complex networks for folding multi-hinged tessellations, including Miura-ori and sequentially folding box patterns.
000268044 6531_ $$aFluid actuation, self-folding, origami robots, distributed actuation 
000268044 700__ $$0249214$$aZhakypov, Zhenishbek$$g238389
000268044 700__ $$0260558$$aMete, Mustafa$$g294511
000268044 700__ $$aFiorentino, Julien
000268044 700__ $$0246476$$aPaik, Jamie$$g218367
000268044 7112_ $$aIEEE International Conference on Soft Robotics (RoboSoft)$$cSeol, South Korea$$d14-18 April 2019
000268044 773__ $$t2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)$$q814-820
000268044 8560_ $$fzhenishbek.zhakypov@epfl.ch
000268044 8564_ $$uhttps://infoscience.epfl.ch/record/268044/files/zhakypov_robosoft19.pdf$$zPREPRINT$$s13142085
000268044 909C0 $$mjulia.jeanloz@epfl.ch$$mcarole.berthet@epfl.ch$$0252462$$zMarselli, Béatrice$$xU12520$$pRRL
000268044 909CO $$pconf$$pSTI$$ooai:infoscience.epfl.ch:268044
000268044 960__ $$azhenishbek.zhakypov@epfl.ch
000268044 961__ $$afantin.reichler@epfl.ch
000268044 973__ $$aEPFL$$rREVIEWED
000268044 980__ $$aCONF
000268044 981__ $$aoverwrite