Sticker controller and sticker programming for smart sheets (self-folding sheets)

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011.Cataloged from PDF version of thesis.Includes bibliographical references (p. 265-267).This thesis describes a self-folding sheet that is capable of origami-style autonomous folding. We describe the hardware device we designed and fabricated. This device, called a self-folding sheet, is a sheet with a box-pleat pattern and an integrated electronic substrate and actuators. The sheet is programmed and controlled using a new idea called sticker programming. We describe the architecture of a machine that can be programmed by sticker programming and its instantiation. We also describe planning algorithm and automatic programming algorithm for controlling a given sheet to self-fold into a desired shape. Finally we present experiments with a 4 x 4 hardware device and an 8 x 8 hardware device.by Byoungkwon An.S.M

Making shapes from modules by magnification

Abstract — We present a distributed algorithm for creating a modular shape by magnification. The input to the algorithm is presented with a small scale version of the desired shape and a magnification factor m. The output of the system is the object that corresponds to the m-fold magnification of the input shape. We describe and analyze a distributed algorithm for this capability and present simulation results. Making shapes by magnification can be viewed as a programming interface for creating objects by programming matter. I

Pouch Motors: Printable Soft Actuators Integrated with Computational Design

We propose pouch motors, a new family of printable soft actuators integrated with computational design. The pouch motor consists of one or more inflatable gas-tight bladders made of sheet materials. This printable actuator is designed and fabricated in a planar fashion. It allows both easy prototyping and mass fabrication of affordable robotic systems. We provide theoretical models of the actuators compared with the experimental data. The measured maximum stroke and tension of the linear pouch motor are up to 28% and 100 N, respectively. The measured maximum range of motion and torque of the angular pouch motor are up to 80° and 0.2 N, respectively. We also develop an algorithm that automatically generates the patterns of the pouches and their fluidic channels. A custom-built fabrication machine streamlines the automated process from design to fabrication. We demonstrate a computer-generated life-sized hand that can hold a foam ball and perform gestures with 12 pouch motors, which can be fabricated in 15 min.National Science Foundation (U.S.) (1240383)National Science Foundation (U.S.) (1138967)United States. Department of Defens

Robotic Origamis: Self-morphing Modular Robot

Programmable matter is a material that produces distinctive shapes or patterns according to a given command. Often they are composed of interconnected modular elements that are able to make or break the connections or alter relative orientation. We present programmable matter based on robotic origami that demonstrates the capability to fold into 3D shapes starting from a nominally 2D sheet. This concept requires high torque density actuators, flexible electronics and an integrated substrate. We report on unique robot fabrication techniques that incorporate torsional shape memory actuators and stretchable electronics

An end-to-end approach to self-folding origami structures

This paper presents an end-to-end approach to automate the design and fabrication process for self-folding origami structures. Self-folding origami structures are robotic sheets composed of rigid tiles and joint actuators. When they are exposed to heat, each joint folds into a preprogrammed angle. Those folding motions transform themselves into a structure, which can be used as body of 3-D origami robots, including walkers, analog circuits, rotational actuators, and microcell grippers. Given a 3-D model, the design algorithm automatically generates a layout printing design of the sheet form of the structure. The geometric information, such as the fold angles and the folding sequences, is embedded in the sheet design. When the sheet is printed and baked in an oven, the sheet self-folds into the given 3-D model. We discuss, first, the design algorithm generating multiple-step self-folding sheet designs, second, verification of the algorithm running in O(n 2 ) time, where n is the number of the vertices, third, implementation of the algorithm, and finally, experimental results, several self-folded 3-D structures with up to 55 faces and two sequential folding steps

Folding Angle Regulation by Curved Crease Design for Self-Assembling Origami Propellers

© 2015 by ASME. This paper describes a method for manufacturing complex three-dimensional curved structures by self-folding layered materials. Our main focus is to first show that the material can cope with curved crease self-folding and then to utilize the curvature to predict the folding angles. The self-folding process employs uniform heat to induce selffolding of the material and shows the successful generation of several types of propellers as a proof of concept. We further show the resulting device is functional by demonstrating its levitation in the presence of a magnetic field applied remotely

Planning to fold multiple objects from a single self-folding sheet

This paper considers planning and control algorithms that enable a programmable sheet to realize different shapes by autonomous folding. Prior work on self-reconfiguring machines has considered modular systems in which independent units coordinate with their neighbors to realize a desired shape. A key limitation in these prior systems is the typically many operations to make and break connections with neighbors, which lead to brittle performance. We seek to mitigate these difficulties through the unique concept of self-folding origami with a universal fixed set of hinges. This approach exploits a single sheet composed of interconnected triangular sections. The sheet is able to fold into a set of predetermined shapes using embedded actuation. We describe the planning algorithms underlying these self-folding sheets, forming a new family of reconfigurable robots that fold themselves into origami by actuating edges to fold by desired angles at desired times. Given a flat sheet, the set of hinges, and a desired folded state for the sheet, the algorithms (1) plan a continuous folding motion into the desired state, (2) discretize this motion into a practicable sequence of phases, (3) overlay these patterns and factor the steps into a minimum set of groups, and (4) automatically plan the location of actuators and threads on the sheet for implementing the shape-formation control.United States. Defense Advanced Research Projects Agency. Programmable Matter Progra

A Design Environment for the Rapid Specification and Fabrication of Printable Robots

© Springer International Publishing Switzerland 2016. In this work, we have developed a design environment to allow casual users to quickly and easily create custom robots. A drag-and-drop graphical interface allows users to intuitively assemble electromechanical systems from a library of predesigned parametrized components. A script-based infrastructure encapsulates and automatically composes mechanical, electrical, and software subsystems based on the user input. The generated design can be passed through output plugins to produce fabrication drawings for a range of rapid manufacturing processes, along with the necessary firmware and software to control the device. From an intuitive description of the desired specification, this system generates ready-to-use printable robots on demand.National Science Foundation (Awards EFRI-1240383 and CCF-1138967