Project Description
The goal of this project was to design and fabricate an exoskeleton mechanism inspired by the curling and uncurling motions of pill bugs (also known as Roly Polys). We aimed to develop a robot with adaptive locomotion capabilities that can switch between crawling and rolling modes, allowing it to better navigate complex terrains, provide easier transportation, and enhance protection of the robot’s electronics and actuators.
The primary focus of the project was designing a hierarchical shell structure that mimicked the exterior shell of pill bugs. The shell needed to be capable of transitioning between flat and spherical configurations. We outlined the major problems addressed and created by integrating conglobation and explored potential approaches to tackle them.
The project requirements included compatibility with an existing robot's dimensions, which is approximately 20cm x 10cm x 10cm in size. The team planned to employ origami-inspired design approaches, specifically utilizing variations of the Miura fold to create a paper-based prototype of the outer shell mechanism. Once an optimal design was achieved, fabrication methods such as 3D printing, laser cutting, and molding were used to create a robust and flexible mechanism using materials like polylactic acid (PLA), paper, and carbon fiber sheets.
To actuate the rolling outer shell mechanism, the project team explored various options such as servo motors, pneumatics, and magnets. The ultimate goal was to develop a shape-morphing exoskeleton that can efficiently enclose the base robot and transition between different configurations, offering improved mobility, energy generation, and protection.
By leveraging the remarkable adaptability of pill bugs and incorporating multimodal principles into robot design, this project hoped to push the boundaries of bio-inspired robotics and enhance the capabilities of robots for various applications, including rescue missions in tight spaces and self-sustaining locomotion.
