Robotic Origamis: Self-Morphing Modular Robots

AbstractProgrammable matter is a material that produces distinctive shapes or patterns according to a given command. Often they are composed of interconnected modular elements that are able to make or break the connections or alter relative orientation. We present programmable matter based on robotic origami that demonstrates the capability to fold into 3D shapes starting from a nominally 2D sheet. This concept requires high torque density actuators, flexible electronics and an integrated substrate. We report on unique robot fabrication techniques that incorporate torsional shape memory actuators and stretchable electronics.