Foldable Joints for Foldable Robots

Origami-inspired robot designs have the potential to be faster, cheaper, and easier to fabricate than robots made through traditional manufacturing methods. In this paper, we show how a variety of basic joints used in robots can be folded from a flat sheet. The joints can be combined with each other and with rigid bodies to produce entire foldable linkages that can be actuated using circuitry integrated directly on the linkage surface. We have designed, folded, and actuated two robots using our joints, showing that it is possible to create robots using a uniform print and fold process.