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Origami-inspired robots are of particular interest given their potential for rapid and accessible design and fabrication of elegant designs and complex functionalities through cutting and folding of flexible 2D sheets or even strings,…
Locomotive robots that do not rely on electronics and/or electromagnetic components will open up new perspectives and applications for robotics. However, these robots usually involve complicated and tedious fabrication processes, limiting…
This study proposes and examines a novel approach to generate peristaltic-like locomotion in a segmented origami robot. Specifically, we demonstrate the use of multi-stability embedded in origami skeleton to eliminate the need for multiple…
Origami offers a promising alternative for designing innovative soft robotic actuators. While features of origami, such as bi-directional motion and structural anisotropy, haven't been extensively explored in the past, this letter presents…
Origami structures have been widely explored in robotics due to their many potential advantages. Origami robots can be very compact, as well as cheap and efficient to produce. In particular, they can be constructed in a flat format using…
Despite advances in localization and navigation, aerial robots inevitably remain susceptible to accidents and collisions. In this work, we propose a passive foldable airframe as a protective mechanism for a small aerial robot. A foldable…
This study examines a biology-inspired approach of using reconfigurable articulation to reduce the control requirement for soft robotic arms. We construct a robotic arm by assembling Kresling origami modules that exhibit predictable…
Origami designs and structures have been widely used in many fields, such as morphing structures, robotics, and metamaterials. However, the design and fabrication of origami structures rely on human experiences and skills, which are both…
Flexible robotics are capable of achieving various functionalities by shape morphing, benefiting from their compliant bodies and reconfigurable structures. Here we construct and study a class of origami springs generalized from the known…
To improve the accessibility of robotics, we propose a design and fabrication strategy to build low-cost electromechanical systems for robotic devices. Our method, based on origami-inspired cut-and-fold and E-textiles techniques, aims at…
Miniature robots provide unprecedented access to confined environments and show promising potential for novel applications such as search-and-rescue and high-value asset inspection. The capability of body deformation further enhances the…
Soft robots employing compliant materials and deformable structures offer great potential for wearable devices that are comfortable and safe for human interaction. However, achieving both structural integrity and compliance for comfort…
We present an approach to overcoming challenges in dynamical dexterity for robots through tunable origami structures. Our work leverages a one-parameter family of flat sheet crease patterns that folds into origami bellows, whose axial…
Wireless millimeter-scale origami robots that can locomote in narrow spaces and morph their shapes have recently been explored with great potential for biomedical applications. Existing millimeter-scale origami devices usually require…
Cyclic motions in vertebrates, including heart beating, breathing and walking, are derived by a network of biological oscillators having fascinating features such as entrainment, environment adaptation, and robustness. These features…
Origami offers a versatile framework for designing morphable structures and soft robots by exploiting the geometry of folds. Tubular origami structures can act as continuum manipulators that balance flexibility and strength. However,…
Spontaneous low-frequency oscillations on the order of several hertz are the drivers of many crucial processes in nature. From bacterial swimming to mammal gaits, the conversion of static energy inputs into slowly oscillating electrical and…
The ancient art of origami, traditionally used to transform simple sheets into intricate objects, also holds potential for diverse engineering applications, such as shape morphing and robotics. In this study, we demonstrate that one of the…
Many of the patterns seen in Origami are currently being explored as a platform for building functional engineering systems with versatile characteristics that cater to niche applications in various technological fields. One such pattern is…
This paper presents a nonlinear control framework for steering networks of coupled oscillators toward desired phase-locked configurations. Inspired by brain dynamics, where structured phase differences support cognitive functions, the focus…