Yim, Sehyuk, Sung, Cynthia, Miyashita, Shuhei orcid.org/0000-0002-9795-9247 et al. (2 more authors) (2018) Animatronic Soft Robots by Additive Folding. International journal of robotics research. pp. 611-628. ISSN 0278-3649
Abstract
This paper presents a new class of animatronic soft robots created by a desktop fabrication mechanism called additive folding. In this method, two-dimensional (2D) slices are threaded by multiple strings, accordion-folded by flexure hinges and finally stacked into a predefined three-dimensional (3D) structure. As the 3D assembly of the slices is controlled by embedded strings, it becomes an animatronic soft robot that moves like a biological creature and that shows life-like movements. We create a computational design algorithm that takes as input a desired 3D geometry of the robot, and that produces a 2D surface with built-in folds and string-based actuators. This paper describes the entire robot design process and demonstrates various animatronic motions, highlighting the vision of desktop fabrication technology and its potential applications in animatronics and robotic art.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | The Author(s) 2018. This is an author-produced version of the published paper. Uploaded in accordance with the publisher’s self-archiving policy. Further copying may not be permitted; contact the publisher for details. |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Electronic Engineering (York) |
Depositing User: | Pure (York) |
Date Deposited: | 22 Jul 2019 17:10 |
Last Modified: | 08 Mar 2025 00:06 |
Published Version: | https://doi.org/10.1177/0278364918772023 |
Status: | Published |
Refereed: | Yes |
Identification Number: | 10.1177/0278364918772023 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:148870 |