Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Design, Fabrication and Analysis of Walking Robot Based on Origami Structure

종이 접기 구조를 활용한 단일 구동기 보행 로봇의 설계, 제작 및 분석

  • 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)
  • Received : 2014.08.01
  • Accepted : 2014.11.05
  • Published : 2015.01.01
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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.

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References

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