This paper presents a proposal of a modular robot with origami structure. The proposal is based on a self-scalable and modular link made of soft parts. The kinematics of a single link and several links interconnected is studied and validated. Besides, the link has been prototyped, identified, and controlled in position. The experimental data show that the system meets the scalability requirements and that its response is totally reliable and robust. ; The research leading to these results has received funding from the project Desarrollo de articulaciones blandas para aplicaciones robóticas, with reference IND2020/IND-1739, funded by the Comunidad Autónoma de Madrid (CAM) (Department of Education and Research), and from RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, FaseIV; S2018/NMT-4331), funded by “Programas de Actividades I+D en la Comunidad de Madrid” and cofunded by Structural Funds of the EU.


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    Titel :

    Modular and self-scalable origami robot: A first approach



    Erscheinungsdatum :

    2021-06-09


    Anmerkungen:

    AR/0000028826



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




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