Template-Generated Robots
Designing robots requires a careful balance between their physical structure and behavior, as modifications in one area typically necessitate changes in the other. To enhance this design process, we introduce a co-design strategy that integrates modularization and abstraction, specifically focusing on the Dynamic Origami Quadruped (DOQ). This method aims to simplify design decisions by minimizing the interactions between components, enabling the creation of versatile robots while reducing the complexity of choices required from designers.
Our approach is grounded in two key concepts. The first involves utilizing dynamical systems templates to abstract essential locomotion dynamics, providing vital constraints that inform kinematics and actuation. The second concept is the Robogami (Kinegami) prototyping technique, which translates high-level specifications into feasible fabrication plans. Together, these frameworks streamline the design process, allowing designers to concentrate on overarching goals while automatically generating the specifics needed for successful prototypes. This work lays the groundwork for future innovations in robotics design.
