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Folding and Characterization of a Bio-responsive Robot from DNA Origami
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Efficient reciprocating burrowing with anisotropic origami feet.

Sareum Kim1, Laura K Treers1, Tae Myung Huh2

  • 1Embodied Dexterity Group, Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, United States.

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Summary
This summary is machine-generated.

Origami feet enable burrowing locomotion in granular media by creating anisotropic forces. Tuning foot design improves forward motion efficiency without complex controls.

Keywords:
anisotropyburrowinggranular mediaorigamisoft robot

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Area of Science:

  • Robotics and Mechanical Engineering
  • Soft Robotics
  • Granular Mechanics

Background:

  • Origami principles offer potential for adaptable mechanisms but are understudied in granular environments.
  • Biological systems utilize anisotropic forces for locomotion, inspiring bio-mimetic approaches.
  • Anisotropic friction is key to efficient movement in granular media.

Purpose of the Study:

  • To investigate the use of foldable origami feet for inducing anisotropic force responses in granular media.
  • To develop a burrowing robot utilizing origami feet for directed locomotion.
  • To apply and validate granular Resistive Force Theory for deformable structure design.

Main Methods:

  • Designing and fabricating a reciprocating burrower with deployable origami feet.
  • Employing a reduced-order model of granular Resistive Force Theory.
  • Conducting experiments and Discrete Element Method (DEM) simulations for validation.

Main Results:

  • Achieved burrowing translation ratios exceeding 46% by optimizing origami foot design.
  • Demonstrated directed burrowing motion from symmetric linear actuation.
  • Validated the effectiveness of origami feet in generating anisotropic force responses.

Conclusions:

  • Origami feet can enable efficient, controller-free burrowing locomotion in granular media.
  • Foot design parameters significantly influence locomotion performance.
  • Resistive Force Theory provides a valuable framework for designing deformable structures in granular environments.