New paradigms for robotic design & construction

F.A.S.T (Flat Sheet Actuated Scurrying Tetrapod) is a walking robot which utilizes a modular leg unit connected to a rigid body. This modular leg is derived from an origami folding pattern and uses a spherical linkage folding mechanism. Four legs complete the current assembly which is constructed using a lamination technique. Our robot is built up from thirteen flat sheets of different materials which are laminated and then folded into place. This fabrication technique takes advantage of widely available laser cutters and cheap materials to produce a robot that is extremely thin, flexible, and structurally robust.

In collaboration with Spyridon Ampanavos and Jacob Hamman from Chuck Hoberman’s class "Informal Robotics" at the Harvard University Graduate School of Design.

Ambulatory behavior

The ambulatory behavior is reminiscent of a small animal or insect moving hurriedly with short quick steps, which is why we have used the descriptor ,"scurrying". The electronics and batteries are all housed on the underside of the rigid center allowing for a streamlined visual appearance and capacity for expansion.

Assembly design

The design of the assembly is focused on reducing complexity of actuation while achieving the ability to autonomously navigate a given environment. FAST achieves forward or backward movement due to a slow, then fast gait which makes static friction with the foot and ground greater than the opposing dynamic friction. Turning is achieved by varying the timing of each foot strike.

Design iterations

Across the project we iterated on different forms, actuation types and material assemblies. Our initial iterations focused on achieving a successful gait through the folding mechanism. After that formal architecture was achieved, we experimented with multi-material assemblies to achieve the most durable gait and actuation. Finally, our last iterations were focused on reducing the load of the wires and boards by shifting towards paper-based electronics and lightweight sensors.