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      • Department of Mechanical Engineering
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      C-Quad: a miniature, foldable quadruped with C-shaped compliant legs

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      Author(s)
      Güç, Ahmet Furkan
      Kalın, Mert Ali İhsan
      Karakadıoğlu, Cem
      Özcan, Onur
      Date
      2017
      Source Title
      Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
      Publisher
      IEEE
      Pages
      26 - 31
      Language
      English
      Type
      Conference Paper
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      Abstract
      C-Quad is an origami-inspired, foldable, miniature robot whose legs and body are all machined from one PET sheet each. The already famous compliant legs are modified such that they can be manufactured from a flat PET sheet and folded into the C-shape wanted. The compliant legs enable the miniature robot to run fast and scale obstacles with ease due to the geometry of the legs. C-Quad has four legs that are manufactured separately from the main body frame, which is also manufactured from a single PET sheet. All of its legs are actuated individually with a total of four DC motors. Despite the thin PET film, the structural rigidity and robustness of the body frame is increased by using specialized folds and locks. The manufacturing and assembly of the robot takes approximately 2.5 hours. C-Quad carries a battery, an Arduino Pro Micro control board, a bluetooth communication module, custom made encoders and commercially available IR sensors for motor speed control and motor drivers, all of which weighs 38 grams. By using very simple control strategies, it can achieve the speed of 2.7 Bodylengths/sec, can perform in-place turns and can climb over obstacles more than half of its height.
      Keywords
      Foldable legged robots
      Miniature robots
      Origami-inspired robots
      Print-and-fold robots
      Unconventional manufacturing
      Permalink
      http://hdl.handle.net/11693/50213
      Published Version (Please cite this version)
      https://doi.org/10.1109/ROBIO.2017.8324389
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