Developing a Mono-Actuated Compliant GeoGami Robot

Description

This paper presents the design of a new soft-rigid robotic platform, "GeoGami". We leverage origami surface capabilities to achieve shape contraction and to support locomotion with underactuated forms. A key challenge is that origami surfaces have high degrees of freedom and typically require many actuators; we address repeatability by integrating surface compliance. We propose a mono-actuated GeoGami mobile platform that combines origami surface compliance with a geometric compliant skeleton, e

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