Our project is part of an ongoing exploration dedicated to advancement of animated pop up origami structures. As part of this research, our team developed “Crease”, a bio-inspired robot that emerges from a two-dimensional geometric pattern into its three-dimensional configuration. Our exploration focuses on generation of movement through the magnification of small mechanical motions translated by the rigid geometric body through a series of flexible joints. Amplifying movement through the body geometry, the mechanism achieves complex animation with minimal motorized actuation. Variations in the number, type, position, and action of motors was studied in conjunction with modifying the pattern of folds and method of connection to achieve variation in gait, speed, and direction.

 

In its three dimensional configuration, “Crease” has four appendages connected back to a folded polygonal body. The motion of the front leg is synchronized to its back leg which in turn is connected and actuated by either a folded beam attached to a motor or by being directly attached to a servo. Each iteration achieves locomotion but differ in their speed, steering, and gait.

 

As further exploration, “Crease” was outfitted with a sensing mechanism which was programmed to translate stimuli from the physical environment into directionality enabling the mechanized origami robot not only to locomote but to navigate around obstacles.