Collaborative engineering project
Origami-Based Insect-Inspired Wall-Climbing Robot
Team leader
Overview
How can a lightweight folding body and insect-inspired leg mechanisms provide locomotion and adaptable surface contact for a wall-climbing robot?
My Work
Overall robot design
Design the robot architecture around an origami body, four-bar linkage legs, tarsus-like adaptive ankles and negative-pressure suction cups. The 13-DoF design includes six active leg degrees of freedom for walking, one active neck-yaw degree of freedom and six passive foot degrees of freedom for surface adaptation.
Manufacturing and assembly
Carry out component fabrication and complete robot assembly, connecting the structural design with the physical prototype.
Team coordination
Lead team members, organize regular technical discussions and prepare competition materials.
Origami body and robot architecture
The folding body connects the leg mechanisms within the robot's active and passive degree-of-freedom arrangement.
Leg linkage and adaptive ankle
The four-bar leg mechanism provides motion, while the adaptive ankle accommodates changes in surface orientation.
Fabrication and assembly
Physical models document the transition from the flat pattern and linkage design to assembled components.
Results
Completed the overall robot design and full assembly as team leader in a collaborative undergraduate project.