Leaf-Like Origami Robot with Independent Unit-Cell Control for Integrated Locomotion and Adaptive Grasping = 독립적 단위셀 제어로 이동 및 적응형 파지를 갖춘 Leaf-like origami 로봇

다국어 초록 (Multilingual Abstract)

Origami structures sit at the intersection of computation and fabrication.
These mechanisms translate flat surfaces into lightweight, reconfigurable
structures that can be designed, analyzed, and manufactured using accessible
tools. We introduce a Leaf-like origami robot that combines locomotion and
adaptive grasping in a single module, thanks to independent unit-cell
actuation. First, we design a Leaf-like crease architecture to maximize
performance, while respecting fabrication constraints. A rigid-origami
simulation framework is then developed to send spatiotemporal actuation
signals to generate gait and rapid shape-conforming grasping. To validate this
model, we quantify panel deformation to confirm the applicability of the
rigid-foldability hypothesis. Finally, we realize a centimeter-scale prototype
that demonstrates repeatable controllable locomotion and on-demand
grasping. Independent cell control enables nonuniform closures that adapt to
the shape of the object, improving capture reliability. This work advances a
cross-disciplinary pathway for foldable robots for efficient motion and
grasping within a single module.

국문 초록 (Abstract)

액추에이터 및 제작 한계 내에서 큰 스트로크를 구현하도록 최적화된,
독립적으로 구동되는 유닛 셀을 갖춘 센티미터 규모의 잎 모양 오리가미
로봇을 제작함. 강성 오리가미 시뮬레이션으로 평면 보행, 신속한
적응형 파지를 반복하게 함. 패널 변형을 정량화하여 움직이는 범위
내에 rigid folding이 유지됨을 보이고 효율적이고 제어 가능한 운동을
위한 경량 설계 플랫폼을 입증함.

목차 (Table of Contents)

• Abstract........................................................................................i
• Table of Contents.......................................................................ii
• List of Tables...............................................................................iv
• List of Figures..............................................................................v
• Chapter 1. Introduction...............................................................1
• 1.1. Research Background..........................................................1
• 1.2. Research Objectives ...........................................................2
• Chapter 2. Robot Design............................................................4
• 2.1. Leaf-Like Origami Design....................................................4
• 2.2. Material and Fabrication......................................................7
• 2.3. Kinematic Model ..................................................................9
• 2.4. Constraints...........................................................................11
• 2.5. Parameter Optimization .....................................................13
• Chapter 3. Robot Control...........................................................18
• 3.1. Rigid Origami Simulation.....................................................18
• 3.2. Hardware and Software Configuration............................20
• 3.3. Bar and Hinges Model.........................................................21
• 3.4. Validity of the Rigid Origami Hypothesis..........................22
• Chapter 4. Robot Performance.................................................26
• 4.1. Experimental Setup .............................................................26
• 4.2. Locomotion Tests................................................................26
• 4.3. Grasping Tests.....................................................................30
• 4.4. Discussion of Overall Robot Capabilities and Limitations...30
• Conclusion....................................................................................32
• Bibliography .................................................................................33
• 국문 초록..........................................................................................35
• Acknowledgments.......................................................................36