• DocumentCode
    3515270
  • Title

    Rigid 2D space-filling folds of unbroken linear chains

  • Author

    Zhong Li ; Balkcom, Devin J. ; Dollar, Aaron M.

  • Author_Institution
    Dept. of Comput. Sci., Dartmouth Coll., Hanover, NH, USA
  • fYear
    2013
  • fDate
    6-10 May 2013
  • Firstpage
    551
  • Lastpage
    557
  • Abstract
    This paper presents an algorithm for folding a serial revolute chain into a rigid structure of essentially any desired planar shape. The algorithm is fast (linear in the number of links), and the constructed folding plan only requires an actuation method that sequentially folds triangles as the pattern is laid out, maintaining incremental rigidity of the structure during folding.
  • Keywords
    robots; shear modulus; 2D space-filling folds; folding; rigid structure; unbroken linear chains; Approximation algorithms; Approximation methods; Lattices; Legged locomotion; Shape; Strips;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation (ICRA), 2013 IEEE International Conference on
  • Conference_Location
    Karlsruhe
  • ISSN
    1050-4729
  • Print_ISBN
    978-1-4673-5641-1
  • Type

    conf

  • DOI
    10.1109/ICRA.2013.6630628
  • Filename
    6630628
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3515270