A method for building self-folding machines

TLDR

Origami transforms a flat sheet into complex 3‑D shapes, and similar folding techniques can create functional structures and mechanisms. The authors aim to demonstrate that shape‑memory composites can be used to fabricate a self‑folding crawling robot, thereby applying origami principles to machine fabrication. They construct a flat sheet with embedded electronics that autonomously folds along shape‑memory hinges, recreating computational‑origami patterns to form a functional crawling machine. The resulting robot folds itself in four minutes and walks away without human intervention, illustrating the feasibility of complex self‑folding machines and autonomous assembly.

Abstract

Origami can turn a sheet of paper into complex three-dimensional shapes, and similar folding techniques can produce structures and mechanisms. To demonstrate the application of these techniques to the fabrication of machines, we developed a crawling robot that folds itself. The robot starts as a flat sheet with embedded electronics, and transforms autonomously into a functional machine. To accomplish this, we developed shape-memory composites that fold themselves along embedded hinges. We used these composites to recreate fundamental folded patterns, derived from computational origami, that can be extrapolated to a wide range of geometries and mechanisms. This origami-inspired robot can fold itself in 4 minutes and walk away without human intervention, demonstrating the potential both for complex self-folding machines and autonomous, self-controlled assembly.