Planning to fold multiple objects from a single self-folding sheet

Abstract

This paper considers planning and control algorithms that enable a programmable sheet to realize different shapes by autonomous folding. Prior work on self-reconfiguring machines has considered modular systems in which independent units coordinate with their neighbors to realize a desired shape. A key limitation in these prior systems is the typically many operations to make and break connections with neighbors, which lead to brittle performance. We seek to mitigate these difficulties through the unique concept of self-folding origami with a universal fixed set of hinges. This approach exploits a single sheet composed of interconnected triangular sections. The sheet is able to fold into a set of predetermined shapes using embedded actuation.We describe the planning algorithms underlying these self-folding sheets, forming a new family of reconfigurable robots that fold themselves into origami by actuating edges to fold by desired angles at desired times. Given a flat sheet, the set of hinges, and a desired folded state for the sheet, the algorithms (1) plan a continuous folding motion into the desired state, (2) discretize this motion into a practicable sequence of phases, (3) overlay these patterns and factor the steps into a minimum set of groups, and (4) automatically plan the location of actuators and threads on the sheet for implementing the shape-formation control.

An end-to-end approach to making self-folded 3D surface shapes by uniform heating

“…Our previous work on creating self-folding devices controlling its actuators with an internal control system is described in [3]. In [4], [5] we discussed how to plan and program this type of self-folding sheets. [6], [7], [8], [9], [10], [11], [12] present other folding actuators and folding sensors controlled by internal electronic circuits.…”

“…1 A polygon mesh is a collection of faces that defines a polyhedral object. 2 A origami design is a folded state of a paper structure encoded with a crease pattern and folded angles [5] 3 A net of a mesh is an arrangement of edge-jointed faces in a plane. Proof: For each edge, if the edge is not cut, there are two neighboring faces sharing the edge (Alg.…”

“…2) in Java. The input file formats are Wavefront .obj for a 3D mesh and AutoCAD .dxf for a 3D origami design [5]. The output files are .dxf format.…”

“…We built the humanoid and house origami shapes with paper and then coded the shapes into origami designs [5]. The 3D shape of the humanoid was composed of 41 faces and its 2D sheet contained 44 self-folding actuators (Tab.…”

Folding and unfolding origami tessellation by reusing folding path

“…Rigid origami has been a fundamental model in many self-folding machines [1] that are usually composed of mechanical linkage of flat rigid sheets joined by hinges, such as the micro-thick folding actuators [2]. In the past, people have enjoyed many practical uses of rigid origami, ranging from folding maps and airbags to packing large solar panel arrays for space satellites and folding space telescope.…”