![]() ![]() Towards achieving effective cluttered terrain navigation with adaptableĬompliant robots in real-world environments. With a compliant body in open terrain and through a laterally constrained gap,Ī novel capability for legged robots. Finally, we demonstrate preliminary results of CLARI locomoting Stride frequencies (1-10Hz) using multiple gaits (trot, walk, etc.) in threeĭifferent fixed body shapes (long, symmetric, wide) and illustrate the robot'sĬapabilities. We characterize open-loop robot locomotion at multiple (two per modular leg unit) driven by custom piezoelectric actuators, making it Overall, CLARI has eight independently actuated degrees of freedom In order to enable locomotion in multiple shape configurations, weĭesigned a novel body architecture comprising of modular, actuated leg Manufactured using laminate fabrication and assembled using origami pop-up Present CLARI, an insect-scale 2.59g quadrupedal robot capable of bodyĭeformation with tethered electrical connections for power and control and Similar to those of insects and soft arthropods. Most amazingly, many astonishing pieces of origami are produced from a single piece of paper, with no cuttings. It is possible to fold many beautiful shapes in origami. The capability of body deformation furtherĮnhances the reachability of these small robots in complex cluttered terrains Origami is a type of art rst originated from Japan. Show promising potential for novel applications such as search-and-rescue and ![]() Download a PDF of the paper titled Design of CLARI: A miniature modular origami passive shape-morphing robot, by Heiko Kabutz and 1 other authors Download PDF Abstract: Miniature robots provide unprecedented access to confined environments and ![]()
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