1A1-F03 Animated Paper : エネルギープロジェクタを用いた平面型ロボットの制御手法の提案

概要

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This paper proposes a system to control a planar robot using an energy projector. The robot can be controlled and moved by directing the energy supply to various points on the paper. We name the simple planar robot as "Animated Paper." It doesn't require an electronic power supply and can be constructed by simply combining paper with shape memory alloys. The robot controlling system utilizes a laser projector as an energy projector. To facilitate the laser energy absorbed by the paper, the space around the heating area has been covered by copper foil. When the copper foil is irradiated with laser heat, the memory alloy mounted on the paper shrinks and the paper bends. In addition, a donut-shaped retro-reflective material has been affixed as a marker. Measuring reflections of the laser light, the system can recognize the position of the marker and track the precise heating points on the robot.
一般社団法人日本機械学会の論文