Lizard: A Novel Whegged Origami Mobile Robot for Complex Environments
Abstract: Lizard is a soft mobile robot equipped with six three-spoked whegs to negotiate uneven terrain and a flexible spine to enhance maneuverability and obstacle climbing performance. The flexible spine consists of an origami bellows structure fashioned from laser-cut PET sheets and actuated by three cables attached to DC motors at the base of the module. Lizard is highly maneuverable and adept at traversing various types of rough terrain. It has a turning radius as low as 18 cm (0.6 body lengths), which allows Lizard to navigate difficult passageways and cluttered environments. Lizard can also travel at 39.2 on flat carpeted terrain and climb obstacles up to 132 mm tall, or 2.40 times higher than the length of the wheg.
Advisor: Professor Cagdas Onal
Committee: Professor Berk Calli, Professor Andre Rosendo