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Modular and Self-Scalable Origami Robot: A First Approach

Author

Listed:
  • 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)

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.

Suggested Citation

  • Lisbeth Mena & Jorge Muñoz & Concepción A. Monje & Carlos Balaguer, 2021. "Modular and Self-Scalable Origami Robot: A First Approach," Mathematics, MDPI, vol. 9(12), pages 1-23, June.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:12:p:1324-:d:571399
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