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Origami is the traditional Japanese art of paper folding. Due to its fascinating properties, several attempts are being actively made to expand applications of origami-inspired designs in engineering. This paper presents the design of a deformable wheel based on an origami structure that was integrated with a small-scale mobile robot. The wheel of the robot(More)
We report on the design, optimization, and performance evaluation of a new wheel-leg hybrid robot. This robot utilizes a novel transformable wheel that combines the advantages of both circular and legged wheels. To minimize the complexity of the design, the transformation process of the wheel is passive, which eliminates the need for additional actuators. A(More)
Jumping on water is a unique locomotion mode found in semi-aquatic arthropods, such as water striders. To reproduce this feat in a surface tension-dominant jumping robot, we elucidated the hydrodynamics involved and applied them to develop a bio-inspired impulsive mechanism that maximizes momentum transfer to water. We found that water striders rotate the(More)
A small mobile robot that uses round wheels has a stable ride ability on flat surfaces, but the robot cannot climb an obstacle whose height is greater than the length of its wheel radius. As an alternative, legged-wheel robots have been proposed for their better climbing performance. However, such legged-wheel robots have a poor driving performance on flat(More)
Jumping locomotion has been widely employed in milliscale mobile robots to help overcome their size limitations by extending their range and enabling them to overcome obstacles. During jumping, the robot's legs experience acceleration that is up to an order of magnitude greater than the gravitational acceleration. This large force results in bending of the(More)
In gripping devices, adapting to highly unstructured environments such as irregularly shaped objects and surfaces continues to be challenging. To achieve safe and reliable gripping, many researchers have employed various underactuated mechanisms such as differential and compliant mechanisms. All these mechanisms have demonstrated successful gripping(More)
We propose a biomimetic gripper, inspired by a caterpillar's proleg, that can reliably grip dusty and rough terrain. A caterpillar's proleg makes this possible by using a retractor muscle that opens and closes the proleg, and a planta that gives compliance to the proleg. We implement these components with shape memory alloy (SMA) coil actuators and flexure(More)
This paper describes a novel rivet fastener made with shape memory polymer (SMP). Shape recovery and modulus change are main two properties of SMPs that enable themselves to be promising base materials for fasteners. The new type of fastener was used to join two composite parts of a meso-scale robot. The fabrication procedure includes macro molding and(More)
In this paper, we propose a trajectory-adjustable integrated milli-scale jumping-crawling robot with improved ability to overcome obstacles compared to a robot that can only crawl. The robot employs a novel jumping module with enhanced energy storing-capacity and a height-adjustable active trigger. To increase the energy-storing capacity, latex rubber and(More)
In this paper, we verify the scalability of an underactuated mechanism based on flexural buckling by applying the mechanism to multi-scale adaptive grippers. For verification, we design and fabricate two grippers having different sizes and install the grippers to a manipulator. As a result, the scalability of the mechanism will be shown by grasping from(More)