Reconfigurable Foldable Spatial Mechanisms and Robotic Forms Inspired by Kinetogami

Abstract

In recent times, Origami has received an increasing research interest because of its capability to produce foldable tessellations and structures. This paper describes a new modular tetrahedral representation called “Kinetogami”. We embed the cuts and joining patterns into the crease pattern and create folded hinges across basic structural units (BSU), typically not done in Origami. We demonstrate sets of explicit 2D fabrication lay-outs and construction rules in order to fold reconfigurable structures and mechanisms in 3D by using a single flat paper sheet. The structural and combinatorial characteristics of Kinetogamic derivatives are further explored in a hierarchical manner. Inspired by Kinetogami, we design a family of multi-limbed tetrahedral robotic form that reconfigures and adapts. The kinematic properties of individual limbs are investigated and multiple gaits involving flipping, squatting/rising, squirming and slithering are synthesized for a representative hexapod robot. Our newly developed folding design paradigm provides affordances for a novel generation of robotic motion actuation and transformable reconfiguration.