单电机驱动的可变形折纸机器人，靠柔性结构实现自适应运动
Developing a Mono-Actuated Compliant GeoGami Robot
- 用折纸结构+柔性骨架设计，单个电机驱动实现形态变换
- 实验验证可完成滚动与形态重构，具备环境适应能力
- 适合需要变形单一驱动的微型机器人研究者参考
本文提出一种新型软硬结合机器人平台「GeoGami」，利用折纸表面特性实现形态收缩并支持欠驱动运动。传统折纸结构自由度高，通常需多个执行器；本工作通过引入表面柔顺性解决重复性问题。提出一种单电机驱动的GeoGami移动平台，结合折纸表面柔顺性与几何柔顺骨架，仅用一个执行器即可完成形态变化与运动。展示了机器人原型，建立了刚度模型，描述了核心齿轮箱机制，并分析了替代性的缆索驱动方式以实现表面变形。最后评估了平台在形态变换与滚动方面的性能。该平台为能通过形态变化进入不同环境、或以形态变更为运动方式的机器人提供了新可能。
原文摘要 · Abstract (English)
This paper presents the design of a new soft-rigid robotic platform, "GeoGami". We leverage origami surface capabilities to achieve shape contraction and to support locomotion with underactuated forms. A key challenge is that origami surfaces have high degrees of freedom and typically require many actuators; we address repeatability by integrating surface compliance. We propose a mono-actuated GeoGami mobile platform that combines origami surface compliance with a geometric compliant skeleton, enabling the robot to transform and locomote using a single actuator. We demonstrate the robot, develop a stiffness model, and describe the central gearbox mechanism. We also analyze alternative cable-driven actuation methods for the skeleton to enable surface transformation. Finally, we evaluate the GeoGami platform for capabilities, including shape transformation and rolling. This platform opens new capabilities for robots that change shape to access different environments and that use shape transformation for locomotion.
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