Graphics enhanced version of this site

Robotic Origami Folding
D. Balkcom
doctoral dissertation, tech. report CMU-RI-TR-04-43, Robotics Institute, Carnegie Mellon University, August, 2004.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [4104 KB]

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.

Origami, the human art of paper sculpture, is a fresh challenge for the field of robotic manipulation, and provides a concrete example for many difficult and gen- eral manipulation problems. This thesis will present some initial results, including the world's first origami-folding robot, some new theorems about foldability, defi- nition of a simple class of origami for which I have designed a complete automatic planner, analysis of the kinematics of more complicated folds, and some observa- tions about the configuration spaces of compound spherical closed chains.

Associated center: CFR

Number of pages: 171

D. Balkcom, Robotic Origami Folding, doctoral dissertation, tech. report CMU-RI-TR-04-43, Robotics Institute, Carnegie Mellon University, August, 2004.

@phdthesis{Balkcom_2004_4822,
   author = "Devin Balkcom",
   title = "Robotic Origami Folding",
   school = "Robotics Institute, Carnegie Mellon University",
   month = "August",
   year = "2004",
   address = "Pittsburgh, PA"
}