Experimental Robotics

Volume 109 of the series Springer Tracts in Advanced Robotics pp 435-449


A Design Environment for the Rapid Specification and Fabrication of Printable Robots

  • Ankur MehtaAffiliated withMassachusetts Institute of Technology Email author 
  • , Nicola BezzoAffiliated withUniversity of Pennsylvania
  • , Peter GebhardAffiliated withUniversity of Pennsylvania
  • , Byoungkwon AnAffiliated withMassachusetts Institute of Technology
  • , Vijay KumarAffiliated withUniversity of Pennsylvania
  • , Insup LeeAffiliated withUniversity of Pennsylvania
  • , Daniela RusAffiliated withMassachusetts Institute of Technology

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In this work, we have developed a design environment to allow casual users to quickly and easily create custom robots. A drag-and-drop graphical interface allows users to intuitively assemble electromechanical systems from a library of predesigned parametrized components. A script-based infrastructure encapsulates and automatically composes mechanical, electrical, and software subsystems based on the user input. The generated design can be passed through output plugins to produce fabrication drawings for a range of rapid manufacturing processes, along with the necessary firmware and software to control the device. From an intuitive description of the desired specification, this system generates ready-to-use printable robots on demand.


Design co-generation Personal robots Printable robots