UC San Diego

This paper describes an application of tendon-actuated flexostructure appendages that can draw multi-movements, such as rolling and crawling, in a straightforward method. In the fabrication process, the appendage is made of PLA using a 3D printer, and PC film is attached to prevent its deformation and increase flexibility. This structure has many variables that can affect the performance of the appendage. If the mushroom structure's thickness, shape, and linear space change, the appendage's performance may vary. These variables can change the appendage's elastic energy, flexibility, and stiffness. In the application process, we make three versions of the robot which use flexostructured legs. Two flexostructure appendages are used for rolling motion with a new rolling mechanism called 'Kick and Roll.' Two appendages use their elastic energy to kick the ground. Due to using flexostructure appendages, the robot can make not only rolling motions but also different motions such as crawling, gripping, and dragging. Further research might have a chance to have various types of motions. Ultimately, the robot using the advantages of flexostructure appendages can make a rolling motion with a different kind of mechanism and different motion.