Sticker controller and sticker programming for smart sheets (self-folding sheets)

This thesis describes a self-folding sheet that is capable of origami-style autonomous folding. We describe the hardware device we designed and fabricated. This device, called a self-folding sheet, is a sheet with a box-pleat pattern and an integrated electronic substrate and actuators. The sheet is programmed and controlled using a new idea called sticker programming. We describe the architecture of a machine that can be programmed by sticker programming and its instantiation. We also describe planning algorithm and automatic programming algorithm for controlling a given sheet to self-fold into a desired shape. Finally we present experiments with a 4 x 4 hardware device and an 8 x 8 hardware device.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2011

Author dc:creator

• An, Byoungkwon

Advisor dc:contributor.advisor

• Daniela Rus.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/68438

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/68438