Robotic origami folding

被引：136

作者：

Balkcom, Devin J. ^{[1
]}

Mason, Matthew T. ^{[2
]}

机构：

[1] Dartmouth Coll, Dept Comp Sci, Hanover, NH 03755 USA

[2] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2008年 / 27卷 / 05期

关键词：

robotic origami folding; dextrous manipulation; flexible object manipulation; rigidity;

D O I：

10.1177/0278364908090235

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Origami, the art of paper sculpture, is a fresh challenge for the field of robotic manipulation, and provides a concrete example of the many difficulties and general manipulation problems faced in robotics. This paper describes our initial exploration, and highlights key problems in the manipulation, modeling, and design of foldable structures. Results include the design of the first origami-folding robot, a complete fold-sequence planner for a simple class of origami, and analysis of the kinematics of more complicated folds, including the common paper shopping bag.

引用

页码：613 / 627

页数：15

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