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The Deformable Wheel Robot Using Magic-Ball Origami Structure

[+] Author Affiliations
Dae-Young Lee, Ji-Suk Kim, Sa-Reum Kim, Je-Sung Koh, Kyu-Jin Cho

Seoul National University, Seoul, Republic of Korea

Paper No. DETC2013-13016, pp. V06BT07A040; 9 pages
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6B: 37th Mechanisms and Robotics Conference
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5594-2
  • Copyright © 2013 by ASME


In this paper, we present a deformable wheel robot using the ball-shaped waterbomb origami pattern, so-called magic-ball pattern. The magic-ball origami pattern is a well-known pattern that changes its shape from a long cylindrical tube to a flat circular tube. By using this special structure, a wheel with mechanical functionalities can be achieved without using many mechanical parts. Moreover, because of the characteristic that the structure constrains its own movement, it is possible to control the whole shape of the wheel using only few actuators. And also, from analysis of the wheel structure in kinematic model, the performance of the wheel and determine the condition for actuators can be predicted. We think that the proposed design for the deformable wheel shows the possibility of using origami structure as a functional structure with its own mechanism.

Copyright © 2013 by ASME
Topics: Robots , Wheels



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