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Robotic Origami Folding.pdf

November 2, 2008 · Filed Under Robotics & Automation  · Tags: ,

Taken from Introduction: Modeling and manipulation of flexible objects, folding manipulation, and analysis and planning for closed-chain structures are key areas on the boundaries of what we understand about manipulation science. Origami is a concrete example for study. Paper is flexible and springy, but stretches hardly at all; simulation and manipulation are hard. Complex origami involves many thicknesses of paper; each successive fold is more difficult than the last, and the volume or surface area typically shrinks with each fold. We might model creases as joints, and the uncreased regions as rigid bodies. If the creases cross, it turns out that the mechanism is a closed chain. Although robot configuration spaces are typically modeled as manifolds, we can make a mechanism with a non-manifold configuration space with just two folds of a flat piece of paper.

Contents:

  • Introduction
    • The challenge of origami
    • Three example problems
    • Key contributions
    • Structure of the thesis
  • Human and robotic origami skills
    • Introduction
    • Origami classification
    • Pureland origami
    • Flat origami: basic folds, bases, and examples
    • 3D origami
  • Representation and design
    • Related work; properties of paper
    • Rigid-body origami models
    • Line-segment origami with revolute joints
    • Faceted origami with revolute joints
    • Properties of flat origami
    • Origami with ball joints and struts
    • Bending of paper
  • Simple origami folding
    • Related work
    • Simple folds
    • Book folds
    • A planner for book-foldable origami
    • An origami folding machine
    • Machine evaluation; future directions
    • Comparison to other folding methods
    • Experiments motivated by human folding techniques
    • Experiments in folding pre-creased paper
  • Vertex folding
    • Related work
    • Local parameterization
    • The c-space topology of spherical n-bar linkages
    • Self-intersection
    • Multi-vertex patterns
    • 3D foldability
  • Conclusion

This ebook is available FREE at Dart Mouth website, we merely collect the information, we are neither affiliated with the author(s), the website and any brand nor responsible for its content and change of content. (Read our disclaimer here or here before you download the document from the website written above by clicking the below link).

Download free Robotic Origami Folding.pdf (165 pages pdf file, 3.9 MB).

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Comments

One Response to “Robotic Origami Folding.pdf”

  1. mrityunjay on January 9th, 2009 4:54 pm

    it is a good book

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