• Journal of the Korean Society for Precision Engineering
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• v.32 no.1
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• pp.97-105
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• 2015

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.

• Journal of Sensor Science and Technology
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• v.30 no.2
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• pp.88-93
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• 2021

In this paper, a folding sensor based on capacitance is proposed. The sensor was developed to sense the length and angle data for the milli-scale actuators without causing any interference to the actuating joints. For the sensing and testing the robotic joint with reducing the cost and complexity aspects of manufacturing, a simple composition was adopted. The sensor comprises a pair of copper tapes, papers, and wires. The complete sensing unit is constructed by bonding the tapes with the papers and soldering the wire to the copper parts. For accuracy, a teensy 4.0 board, which has a 12-bit ADC resolution, is employed. Furthermore, the sensed analog data is not translated into the unit of capacitance for accuracy; however, it is filtered using a low-pass filter and subsequently, a Butter-worth filter. The data obtained demonstrate a periodic waveform, which implies that the data are in good agreement with the hypothesis set prior to the experiments. Compared to other milli-scale sensors, this could be a better option for sensing the length and angle data for milliscale actuators.