Quadrupedal robot with tendon-driven origami legs

In this study, a novel quadrupedal robot with origami cylinders for locomotion is proposed. The proposed robot used a bounding gait, and tendon-driven Kresling-patterned origami cylinders as legs. The origami cylinder actuators were controlled by using a predefined signal with conditions determined...

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Bibliographic Details
Published in:Sensors and actuators. A. Physical. 2024-11, Vol.378, p.115769, Article 115769
Main Authors: Kim, Jinho, Im, Euncheol, Lee, Yisoo, Cha, Youngsu
Format: Article
Language:English
Subjects:
Legged locomotion
Mobile robot
Origami
Soft robot
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Summary:In this study, a novel quadrupedal robot with origami cylinders for locomotion is proposed. The proposed robot used a bounding gait, and tendon-driven Kresling-patterned origami cylinders as legs. The origami cylinder actuators were controlled by using a predefined signal with conditions determined through series of experiments. The robot moved at locomotion speed of 47.51 mm/s, which is about 0.283 body length per second. Specifically, the locomotion of the robot was analyzed by dividing the gait into multiple phases. During the phases, a dynamics model was developed to describe the motion of the robot. In addition, we observed that the dynamics model's result was in accordance with the experimental result. [Display omitted] •A novel quadrupedal robot with an origami cylinder is proposed.•The robot uses a tendon-driven Kresling-patterned origami cylinder as legs.•The robot moves at locomotion speed of 0.283 body length per second.•The locomotion of the robot is analyzed by dividing the gait into multiple phases.
ISSN:0924-4247
DOI:10.1016/j.sna.2024.115769