The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Origami, the art of paper sculpture, is a fresh challenge for the field of robotic manipulation, and provides a concrete example of the many difficulties and general manipulation problems faced in robotics. This paper describes our initial exploration, and highlights key problems in the manipulation, modeling, and design of foldable structures. Results include the design of the first origami-folding robot, a complete fold-sequence planner for a simple class of origami, and analysis of the kinematics of more complicated folds, including the common paper shopping bag.

Notes

Associated Project(s): Robotic Origami Folding

Number of pages: 15

Text Reference

Devin Balkcom and Matthew T. Mason, "Robotic Origami Folding," International Journal of Robotics Research, Vol. 27, No. 5, May, 2008, pp. 613 - 627.

BibTeX Reference

@article{Balkcom_2008_6146,
   author = "Devin Balkcom and Matthew T. Mason",
   title = "Robotic Origami Folding",
   journal = "International Journal of Robotics Research",
   pages = "613 - 627",
   month = "May",
   year = "2008",
   volume = "27",
   number = "5",
}

The Robotics Institute

Menu