以激光折纸成形及热行为为例，规划折叠运动并进行回路仿真
Planning Folding Motion with Simulation in the Loop Using Laser Forming Origami and Thermal Behaviors as an Example
摘要：
设计一个可以折叠成目标形状的机器人或结构是一个涉及来自多个来源的挑战的过程。例如，刚性自折叠机器人的设计者必须从几何和运动学方面考虑可折叠性，以避免自相交和不期望的变形。最近的工作已经成功地估计使用机器人运动规划设计的可折叠性。然而，许多可折叠结构是使用物理耦合反应（即，由热、化学或电磁载荷引起的折叠）。因此，可靠的可折叠性分析必须考虑由这些临界现象导致的额外约束。这项工作调查的想法，有效地将计算昂贵的物理模拟内的折叠运动规划，以提供一个更好的估计的可折叠性。在本文中，我们将使用激光成形折纸作为一个例子来证明考虑几何以外的属性的好处。我们表明，所提出的方法产生的设计可以更有效地折叠。
英文摘要：
Designing a robot or structure that can fold itself into a target shape is a process that involves challenges originated from multiple sources. For example, the designer of rigid self-folding robots must consider foldability from geometric and kinematic aspects to avoid self-intersection and undesired deformations. Recent works have shown success in estimating foldability of a design using robot motion planners. However, many foldable structures are actuated using physically coupled reactions (i.e., folding originated from thermal, chemical, or electromagnetic loads). Therefore, a reliable foldability analysis must consider additional constraints that resulted from these critical phenomena. This work investigates the idea of efficiently incorporating computationally expensive physics simulation within the folding motion planner to provide a better estimation of the foldability. In this paper, we will use laser forming origami as an example to demonstrate the benefits of considering the properties beyond geometry. We show that the design produced by the proposed method can be folded more efficiently.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
