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http://dx.doi.org/10.7736/KSPE.2015.32.1.97

Design, Fabrication and Analysis of Walking Robot Based on Origami Structure  

Kim, Tae-Yeon (Gyeonggi Science High School)
Lee, Seok-Hun (Gyeonggi Science High School)
Lee, Gi-Jung (Gyeonggi Science High School)
Lee, Dae-Young (Department of Mechanical and Aerospace Engineering, Seoul National University)
Kim, Ji-Suk (Department of Mechanical and Aerospace Engineering, Seoul National University)
Cho, Kyu-Jin (Department of Mechanical and Aerospace Engineering, Seoul National University)
Publication Information
Journal of the Korean Society for Precision Engineering / v.32, no.1, 2015 , pp. 97-105 More about this Journal
Abstract
Recently, there have been many researches about applications of origami to mechanical engineering, which realizes a 30 sturcture by folding a 20 plane material. With this simple manufacturing process, origami was even adopted by some roboticists as a way to build an entirely new robot with benefits in terms of cost, weight, and structural simplicity In this paper, we propose a new type of a walking robot based on origami structure. Because all the components of the robot that generate gait motion are mechanically connected, it can actually walk fotward with only a single actuator. We also showed the similarity of gait trajectories between a kinematic analysis and the actual gait motion measured by video tracking. This result proved the possibility of designing an origami-based robot with the identical gait trajectory as we plan.
Keywords
Origami structure; VValking robot; Plane-based mechanism;
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