Quadrature Oscillation System for Coordinated Motion in Crawling Origami Robot
Sean Liu, Ankur Mehta, Wenzhong Yan
AI summary
Problem
Most origami robots rely on bulky electronics that fail in extreme environments and limit them to simple behaviors, creating a need for electronics-free control capable of complex, coordinated locomotion.
Approach
The authors coupled three self-sustaining bi-stable beam oscillators to produce four quadrature square-wave signals from constant DC power, which were integrated into an origami robot to sequentially actuate shape memory alloy legs.
Key results
- Electronics-free quadrature oscillator generating four phase-shifted signals from DC power
- Origami crawling robot design using quadrature signals for coordinated leg actuation
- Experimental validation of ~84° phase offset with 6.7% deviation from ideal quadrature
- Autonomous crawling demonstration achieving 6.9 mm displacement and 1.3 mm/s speed per cycle
Why it matters
Demonstrates a pathway for complex, electronics-free robotic control, enabling origami machines to operate reliably in harsh environments where conventional electronics fail.
Abstract
Origami-inspired robots offer rapid, accessible design and manufacture with diverse functionalities. In particular, origami robots without conventional electronics have the unique advantage of functioning in extreme environments such as ones with high radiation or large magnetic fields. However, the absence of sophisticated control systems limits these robots to simple autonomous behaviors. In our previous studies, we developed a printable, electronics-free, and self-sustained oscillator that generates simple complementary square-wave signals. Our study presents a quadrature oscillation system capable of generating four square-wave signals a quarter-cycle out of phase, enabling four distinct states. Such control signals are important in various engineering and robotics applications, such as orchestrating limb movements in bio-inspired robots. We demonstrate the practicality and value of this oscillation system by designing and constructing an origami crawling robot that utilizes the quadrature oscillator to achieve coordinated locomotion. Together, the oscillator and robot illustrate the potential for more complex control and functions in origami robotics, paving the way for more electronics-free, rapid-design origami robots with advanced autonomous behaviors.