C-Quad: a miniature, foldable quadruped with C-shaped compliant legs

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dc.citation.epage31en_US
dc.citation.spage26en_US
dc.contributor.authorGüç, Ahmet Furkanen_US
dc.contributor.authorKalın, Mert Ali İhsanen_US
dc.contributor.authorKarakadıoğlu, Cemen_US
dc.contributor.authorÖzcan, Onuren_US
dc.coverage.spatialMacau, Chinaen_US
dc.date.accessioned2019-02-21T16:04:50Zen_US
dc.date.available2019-02-21T16:04:50Zen_US
dc.date.issued2017en_US
dc.departmentDepartment of Mechanical Engineeringen_US
dc.descriptionDate of Conference: 5-8 December 2017en_US
dc.descriptionConference Name: 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017en_US
dc.description.abstractC-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.en_US
dc.description.provenanceMade available in DSpace on 2019-02-21T16:04:50Z (GMT). No. of bitstreams: 1 Bilkent-research-paper.pdf: 222869 bytes, checksum: 842af2b9bd649e7f548593affdbafbb3 (MD5) Previous issue date: 2018en
dc.identifier.doi10.1109/ROBIO.2017.8324389en_US
dc.identifier.urihttp://hdl.handle.net/11693/50213en_US
dc.language.isoEnglishen_US
dc.publisherIEEEen_US
dc.relation.isversionofhttps://doi.org/10.1109/ROBIO.2017.8324389en_US
dc.source.titleProceedings of the 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017en_US
dc.subjectFoldable legged robotsen_US
dc.subjectMiniature robotsen_US
dc.subjectOrigami-inspired robotsen_US
dc.subjectPrint-and-fold robotsen_US
dc.subjectUnconventional manufacturingen_US
dc.titleC-Quad: a miniature, foldable quadruped with C-shaped compliant legsen_US
dc.typeConference Paperen_US

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