@inproceedings{cc57fe5938d24e57bab108706aae66b1,
title = "Feedback-controlled self-folding of autonomous robot collectives",
abstract = "Self-folding provides an efficient way of creating complex 3D geometries from 2D composites. However, the precision of self-folding structures is often limited by the use of open-loop folding mechanisms. In this paper we demonstrate feedback-controlled self-folding using a shape memory polymer and optical sensors to accurately control folding angles. We present a method of quickly and inexpensively fabricating large collectives of self-folding autonomous robots that can be transported in flat configurations prior to autonomous deployment at target destinations. To demonstrate this, we build a collective of robots that is manufactured in one continuous laminar composite. Individual robots in the collective detach from one other, self-fold into pre-programmed configurations and navigate by phototaxis. This method could be applied to a broad range of applications where logistics necessitate compact transport and where external manipulation is difficult or expensive, such as in space applications or delivering searchandrescue robots in cluttered environments.",
author = "Nisser, {Martin E.W.} and Felton, {Samuel M.} and Tolley, {Michael T.} and Michael Rubenstein and Wood, {Robert J.}",
note = "Funding Information: The authors gratefully acknowledge support from the National Science Foundation (award numbers CCF-1138967 and EFRI-1240383) and the Wyss Institute for Biologically Inspired Engineering. Any opinions, findings and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect those of the National Science Foundation. Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016",
year = "2016",
month = nov,
day = "28",
doi = "10.1109/IROS.2016.7759208",
language = "English (US)",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1254--1261",
booktitle = "IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems",
address = "United States",
}