The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

Origami, the human art of paper sculpture, is a fresh challenge for the field of robotic manipulation, and provides a concrete example for many difficult and gen- eral manipulation problems. This thesis will present some initial results, including the world's first origami-folding robot, some new theorems about foldability, defi- nition of a simple class of origami for which I have designed a complete automatic planner, analysis of the kinematics of more complicated folds, and some observa- tions about the configuration spaces of compound spherical closed chains.

Notes

Associated Center(s) / Consortia: Center for the Foundations of Robotics

Number of pages: 171

Text Reference

Devin Balkcom, "Robotic Origami Folding," doctoral dissertation, tech. report CMU-RI-TR-04-43, Robotics Institute, Carnegie Mellon University, August, 2004

BibTeX Reference

@phdthesis{Balkcom_2004_4822,
   author = "Devin Balkcom",
   title = "Robotic Origami Folding",
   school = "Robotics Institute, Carnegie Mellon University",
   month = "August",
   year = "2004",
   number= "CMU-RI-TR-04-43",
   address= "Pittsburgh, PA",
}

The Robotics Institute

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