Origami-inspired Shape-Changing Robot

2022 ~ 2025

OSCAR is a novel origami-inspired shape-changing autonomous robot. Its objective is to enhance the adaptability of vehicles engaged in ground coverage tasks, such as floor cleaning. The robot exhibits two distinct configurations: it can fold itself for agile navigation through tight spaces, and unfold to cover larger areas efficiently. The folding pattern has a deploy-to-stow ratio of 3 in the width dimension. The hinge design employs rolling contact elements to mitigate collision among the panels, particularly in regions with multiple colinear crease lines. Furthermore, the design exhibits one degree of freedom and features pivots, making it easy to actuate with motors.  The results show that the robot has great adaptability in complex environments.