A Method for Animating Children’s Drawings of the Human Figure
Harrison Jesse Smith, Qingyuan Zheng, Yifei Li, Somya Jain, Jessica K. Hodgins
IEEE Robotics and Automation Letters
Kirigami-patterned mechanisms are an emergent class of deployable structure that are easy to fabricate and offer the potential to be integrated into deployable robots. In this letter, we propose a design methodology for robotic kirigami structures that takes into consideration the deformation, loading, and stiffness of the structure under typical use cases. We show how loading-deformation behavior of a kirigami structure can be mechanically programmed by imposing plastic deformation. We develop a model for plasticity in the stretching of a kirigami structure. We show the creation of kirigami structures that have an increased elastic region, and specified stiffness, in their deployed states. We demonstrate the benefits of such a plastically-deformed structure by integrating it into a soft deployable crawling robot: the kirigami structure matches the stiffness of the soft actuator such that the deployed, coupled behavior serves to mechanically program the gait step size.
Harrison Jesse Smith, Qingyuan Zheng, Yifei Li, Somya Jain, Jessica K. Hodgins
Yunbo Zhang, Deepak Gopinath, Yuting Ye, Jessica Hodgins, Greg Turk, Jungdam Won
Simran Arora, Patrick Lewis, Angela Fan, Jacob Kahn, Christopher Ré