Modular and Self-Scalable Origami Robot: A First Approach

Lisbeth Mena, Jorge Muñoz, Concepción A. Monje and Carlos Balaguer
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Lisbeth Mena: Robotics Lab, Carlos III University of Madrid, Avenida de la Universidad 30, Leganés, 28911 Madrid, Spain
Jorge Muñoz: Robotics Lab, Carlos III University of Madrid, Avenida de la Universidad 30, Leganés, 28911 Madrid, Spain
Concepción A. Monje: Robotics Lab, Carlos III University of Madrid, Avenida de la Universidad 30, Leganés, 28911 Madrid, Spain
Carlos Balaguer: Robotics Lab, Carlos III University of Madrid, Avenida de la Universidad 30, Leganés, 28911 Madrid, Spain

Mathematics, 2021, vol. 9, issue 12, 1-23

Abstract: 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.

Keywords: self-scalable robots; modular robots; origami structures (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2021
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