These past weeks, I've been experimenting with Interactive Robogami which is an end-to-end design system for ground locomotion robots. It greatly simplifies the design for cut and fold robots, has a library of modular components to choose from, and has many performance and fabrication metrics including speed, wobbliness, slip, angle of rotation, curvature, variance, material cost, electronic cost, and total mass. It also provides functionalities such as animations, code generation for ground locomotion, and an electronic parts list.

Although I was able to download the software, only a very pared down version was available which was very limited in its functionality and unstable especially for exporting the designs I have created. As a result, I was only able ot use and output the demonstration that was available which turned out like this: Screen%20Shot%202022-07-10%20at%207.47.22%20PM Screen%20Shot%202022-07-10%20at%207.49.02%20PM Screen%20Shot%202022-07-10%20at%207.44.40%20PM

I am currently in contact with the head developer of Interactive Robogami, Professor Sung, and seeing if I am able to access a version of Interactive Robogami that can allow me to export new desings. Because of this speedbump, I decided to shift my focus to RoCo and spent time familiarizing myself with its functioanlites by reading Professor Mehta's relevant research papers. After that, I decided that I wanted to start with a robotic leg which I took inspiration from Interactive Robogami. This is the robotic leg component that I wanted to recreate which is basically a rectangular prism connected with a triangular prism:

Screen%20Shot%202022-07-10%20at%207.50.16%20PM

I made changes to the Face.py file in the Rocolib api by adding an equilateral triangle. I also added EquilateralTriangle.py as a component in the Rocolib library. Then, I made LegBuilder.py which utilized these components to design my leg. My output looks like this: Screen%20Shot%202022-07-10%20at%207.43.26%20PM

Although my output is not perfect in regards to the angles of the folds as well as the incisions, this is progress. Now, I will be looking to designing more modular components that will include legs, wheels, bodies, and peripherals and then see what type of robots I can create with these components. Some of the things I am currently thinking of include crawling navigating robots or wheeled robots that can carry certain loads.

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