Efficient reciprocating burrowing with anisotropic origami feet.

Autor:	Kim S; Embodied Dexterity Group, Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, United States., Treers LK; Embodied Dexterity Group, Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, United States., Huh TM; Department of Electrical and Computer Engineering, University of California Santa Cruz, Santa Cruz, CA, United States., Stuart HS; Embodied Dexterity Group, Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, United States.
Jazyk:	angličtina
Zdroj:	Frontiers in robotics and AI [Front Robot AI] 2023 Aug 02; Vol. 10, pp. 1214160. Date of Electronic Publication: 2023 Aug 02 (Print Publication: 2023).
DOI:	10.3389/frobt.2023.1214160
Abstrakt:	Origami folding is an ancient art which holds promise for creating compliant and adaptable mechanisms, but has yet to be extensively studied for granular environments. At the same time, biological systems exploit anisotropic body forces for locomotion, such as the frictional anisotropy of a snake's skin. In this work, we explore how foldable origami feet can be used to passively induce anisotropic force response in granular media, through varying their resistive plane. We present a reciprocating burrower which transfers pure symmetric linear motion into directed burrowing motion using a pair of deployable origami feet on either end. We also present an application of the reduced order model granular Resistive Force Theory to inform the design of deformable structures, and compare results with those from experiments and Discrete Element Method simulations. Through a single actuator, and without the use of advanced controllers or sensors, these origami feet enable burrowing locomotion. In this paper, we achieve burrowing translation ratios-net forward motion to overall linear actuation-over 46% by changing foot design without altering overall foot size. Specifically, anisotropic folding foot parameters should be tuned for optimal performance given a linear actuator's stroke length. Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest. (Copyright © 2023 Kim, Treers, Huh and Stuart.)
Databáze:	MEDLINE
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