Origami Mechanologic (Postprint)
Abstract
Robots autonomously interact with their environment through a continual sense decide respond control loop. Most commonly, the decide step occurs in a central processing unit; however, the stiffness mismatch between rigid electronics and the compliant bodies of soft robots can impede integration of these systems. We develop a framework for programmable mechanical computation embedded into the structure of soft robots that can augment conventional digital electronic control schemes. Using an origami water bomb as an experimental platform, we demonstrate a 1-bit mechanical storage device that writes, erases, and rewrites itself in response to a time varying environmental signal. Further, we show that mechanical coupling between connected origami units can be used to program the behavior of a mechanical bit, produce logic gates such as AND, OR, and three input majority gates, and transmit signals between mechanologic gates. Embedded mechanologic provides a route to add autonomy and intelligence in soft robots and machines.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 18, 2018
- Accession Number
- AD1055489
Entities
People
- Andrew Gillman
- Benjamin Treml
- Philip R. Buskohl
- Richard A. Vaia
Organizations
- Universal Energy Systems