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This paper describes additive self-folding, an origami-inspired rapid fabrication approach for creating actuatable compliant structures. Recent work in 3-D printing and other rapid fabrication processes have mostly focused on rigid objects or objects that can achieve small deformations. In contrast, soft robots often require elastic materials and large amounts of movement. Additive self-folding is...
This paper presents an end-to-end approach for creating 3D shapes by self-folding planar sheets activated by uniform heating. These shapes can be used as the mechanical bodies of robots. The input to this process is a 3D geometry (e.g. an OBJ file). The output is a physical object with the specified geometry. We describe an algorithm pipeline that (1) identifies the overall geometry of the input,...
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