论文标题
以激光形成折纸和热行为为例，在循环中模拟的折叠运动以模拟为例
Planning Folding Motion with Simulation in the Loop Using Laser Forming Origami and Thermal Behaviors as an Example
论文作者
论文摘要
设计可以将自己折叠成目标形状的机器人或结构是一个涉及来自多个来源的挑战的过程。例如，刚性自我折叠机器人的设计师必须考虑从几何和运动学方面的可折叠性，以避免自我交流和不希望的变形。最近的作品显示了使用机器人运动计划者估算设计可折叠性的成功。但是，许多可折叠结构都使用物理耦合反应（即折叠起源于热，化学或电磁载荷）。因此，可靠的可折叠性分析必须考虑这些关键现象产生的其他约束。这项工作研究了在折叠运动计划中有效地将计算昂贵的物理模拟合并的想法，以更好地估计可折叠性。在本文中，我们将使用激光形成折纸作为一个例子来证明考虑几何以外的属性的好处。我们表明，通过提出的方法产生的设计可以更有效地折叠。
Designing a robot or structure that can fold itself into a target shape is a process that involves challenges originated from multiple sources. For example, the designer of rigid self-folding robots must consider foldability from geometric and kinematic aspects to avoid self-intersection and undesired deformations. Recent works have shown success in estimating foldability of a design using robot motion planners. However, many foldable structures are actuated using physically coupled reactions (i.e., folding originated from thermal, chemical, or electromagnetic loads). Therefore, a reliable foldability analysis must consider additional constraints that resulted from these critical phenomena. This work investigates the idea of efficiently incorporating computationally expensive physics simulation within the folding motion planner to provide a better estimation of the foldability. In this paper, we will use laser forming origami as an example to demonstrate the benefits of considering the properties beyond geometry. We show that the design produced by the proposed method can be folded more efficiently.
