MEAM MSE Thesis Defense: “Algorithmic Design of an Origami Squirrel-Inspired Paw for Quadrupedal Locomotion in Bar-like Terrains”

The Dynamic Origami Quadruped (DOQ), an origami quadrupedal robot, has been primarily utilized for hopping and walking on flat ground. However, adapting it walking on bar-like terrains presents significant challenges. Inspired by the Squirrel-inspired Rapid Tenodesis (SQRT) foot which is capable of passively grasping onto curved surfaces during perching, this thesis explores the integration of the DOQ and SQRT designed through origami fabrication techniques. Origami fabrication can offer a parametric approach to robot design, enabling researchers to rapidly prototype by inputting serval constraint parameters. On the other hand, the inherent compliance of origami bodies further enhances the passivity of the foot, reducing the restoring time during takeoff from the bar. The origami SQRT demonstrates promising performance, showcasing its potential in closely grasping bars and assisting the DOQ in maintaining stability.