Planning motions for shape-memory alloy sheets

  title={Planning motions for shape-memory alloy sheets},
  author={Mukulika Ghosh and Daniel Tomkins and J. Denny and Samuel Rodr{\'i}guez and M. Morales and N. Amato},
Shape Memory Alloys (SMAs) are smart materials that can remember predefined shapes. A deformed SMA can transition to a trained shape by applying temperature changes to portions of the material. This reconfigurable property allows SMAs to be used in aeronautics, medicine, and other fields where dynamic re-engineering or actuation of components is required. In this work, we plan the motion of an SMA robot modeled as inflexible regions connected by flexible joints. In this work, we adapt an… Expand


Towards building smart self-folding structures
It is believed that it is possible to use active materials to develop reprogrammable self-folding complex structures that can be raised against gravity, formed, and reconfigured automatically in three dimensions with appropriate heating in a manner that extends previous work in the area of programmable matter. Expand
Design and numerical analysis of an SMA mesh-based self-folding sheet
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Robot self-assembly by folding: A printed inchworm robot
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A review of shape memory alloy research, applications and opportunities
Abstract Shape memory alloys (SMAs) belong to a class of shape memory materials (SMMs), which have the ability to ‘memorise’ or retain their previous form when subjected to certain stimulus such asExpand
Planning motion in completely deformable environments
To the best of the knowledge, this is the first work that plans paths in totally deformable environments and a kinodynamic planning algorithm suited for this type of deformable motion planning is presented. Expand
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Robotic origami folding
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Programming and controlling self-folding robots
  • B. An, D. Rus
  • Engineering, Computer Science
  • 2012 IEEE International Conference on Robotics and Automation
  • 2012
A robot in the form of a self-folding sheet that is capable of origami-style autonomous folding and programmed and controlled to achieve different shapes using an idea called sticker programming is described. Expand
Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces
Real-time robot motion planning using rasterizing computer graphics hardware. In Proc. OY82] C. O'D unlaing and C.K. Yap. A retraction method for planning the motion of a disc. A local approach forExpand