Lab Papers (GRASP)

Document Type

Conference Paper

Date of this Version

3-1-2022

Publication Source

IEEE Conference on Robotics and Automation (ICRA)

Bib Tex

@inproceedings{sun2022repeated,

title={Repeated jumping with the {REBOund}: Self-righting jumping robot leveraging bistable origami-inspired design},

author = {Yuchen Sun and Joanna Wang and Cynthia Sung},

booktitle={IEEE International Conference on Robotics and Automation (ICRA)},

year={2022}

}

Abstract

Repeated jumping is crucial to the mobility of jumping robots. In this paper, we extend upon the REBOund jumping robot design, an origami-inspired jumping robot that uses the Reconfigurable Expanding Bistable Origami (REBO) pattern as its body. The robot design takes advantage of the pattern's bistability to jump with controllable timing. For jump repeatedly, we also add self-righting legs that utilize a single motor actuation mechanism. We describe a dynamic model that captures the compression of the REBO pattern and the REBOund self-righting process and compared it to the physical robot. Our experiments show that the REBOund is able to successfully self-right and jump repeatedly over tens of jumps.

Supplemental video: https://youtu.be/LoCXcwIxCgU

Keywords

origami robot, jumping

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Robotics Commons

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Date Posted:21 June 2022

This document has been peer reviewed.