Automated Actuator Arrangement for Scalable Sheet-based Origami Robots

Research Project

Project/Area Number	15K12115
Research Category	Grant-in-Aid for Challenging Exploratory Research
Allocation Type	Multi-year Fund
Research Field	Intelligent robotics
Research Institution	The University of Tokyo
Principal Investigator	Niiyama Ryuma 東京大学, 大学院情報理工学系研究科, 講師 (00734592)
Project Period (FY)	2015-04-01 – 2017-03-31
Project Status	Completed (Fiscal Year 2016)
Budget Amount *help	¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000) Fiscal Year 2016: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000) Fiscal Year 2015: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
Keywords	おりがみロボット / ソフトアクチュエータ / 自動設計
Outline of Final Research Achievements	We focused on an automatic robot design algorithm and digital fabrication technology for scalable origami robots. Pneumatic actuators are employed to embed actuators in robot structures. Developed small scale robots are based on insect wing that have an elastic origami structure based on bio-inspired approach. We also used inflatable structure for large scale robots. The proposed system accepts desired 3D shape and motion as input. Then, the system automatically scale and arrange actuators on origami structure.

Report

(3 results)