DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yang, Dongwook | ko |
dc.contributor.author | Park, Hyun-Su | ko |
dc.contributor.author | Jang, Keon-Ik | ko |
dc.contributor.author | Han, Jae-Hung | ko |
dc.contributor.author | Lee, Dae-Young | ko |
dc.date.accessioned | 2023-11-30T07:00:42Z | - |
dc.date.available | 2023-11-30T07:00:42Z | - |
dc.date.created | 2023-11-30 | - |
dc.date.created | 2023-11-30 | - |
dc.date.created | 2023-11-30 | - |
dc.date.issued | 2023-11 | - |
dc.identifier.citation | IEEE ROBOTICS AND AUTOMATION LETTERS, v.8, no.11, pp.7759 - 7766 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | http://hdl.handle.net/10203/315507 | - |
dc.description.abstract | The joint design of origami-inspired robots is one of the most distinctive features that distinguishes them from conventional robots. A joint design using material's compliance enables origami robots to implement complex transformational movements in a lightweight and simple manner. However, utilizing the continuum bending mode of materials brings critical problems, including undesired movements and joint radius. This study introduces a solution to these problems through a torsion-based compliant joint (T-C joint) design, which utilizes the torsion deformation of materials. The potential of the T-C joint is demonstrated in a flat-foldable and self-assembling robotic arm, providing its applicability in environments with form-factor limitations and minimal human intervention. The robotic arm - comprising links, joints, and a gripper - can fold into a flat state, deploy with precision and minimal weight, and effectively manipulate target objects. This demonstration shows the real-world application of the proposed joint design. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Torsion-Induced Compliant Joints and its Application to Flat-Foldable and Self-Assembling Robotic Arm | - |
dc.type | Article | - |
dc.identifier.wosid | 001142485900006 | - |
dc.identifier.scopusid | 2-s2.0-85173027180 | - |
dc.type.rims | ART | - |
dc.citation.volume | 8 | - |
dc.citation.issue | 11 | - |
dc.citation.beginningpage | 7759 | - |
dc.citation.endingpage | 7766 | - |
dc.citation.publicationname | IEEE ROBOTICS AND AUTOMATION LETTERS | - |
dc.identifier.doi | 10.1109/LRA.2023.3320899 | - |
dc.contributor.localauthor | Han, Jae-Hung | - |
dc.contributor.localauthor | Lee, Dae-Young | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Compliant joints and mechanisms | - |
dc.subject.keywordAuthor | origami-inspired mechanism | - |
dc.subject.keywordAuthor | self-assembling mechanism | - |
dc.subject.keywordAuthor | soft robot applications | - |
dc.subject.keywordAuthor | soft robot materials and design | - |
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