9 - Origami

Background:

Inspired by the self-folding robotics research from MIT and Harvard, this project aims to develop a minimalist, self-assembling robot that transitions from a flat 2D state into a functional 3D walking machine. While the original research utilized Shape Memory Polymers (SMPs) for heat-activated folding, this project will explore a purely mechanical actuation strategy. By using a single motor a 4-bar mechanism, the system will convert rotational torque into the multidimensional expansion of an origami-based chassis capable of terrestrial locomotion.

Team Members:

Habib Elias, Aditya Angajala, Sam Moon

Summary/Overview:

This proposal outlines a project to build a minimalist, self-assembling robot that transforms from a flat 2D sheet into a functional 3D walking machine using a single motor. Inspired by high-end research from MIT and Harvard, this version replaces complex heat-activated materials with a purely mechanical 4-bar linkage system.

The core innovation is 1-DOF (Degree of Freedom) Multi-Phase Actuation: using one single source of rotation to first "pop up" the body and then immediately begin "walking."

Description of the Problem:

Target Challenge: The primary technical hurdle is achieving a 1-DOF (Degree of Freedom) Multi-Phase Actuation. To replicate the "flat-to-walking" transition, the robot must sequentially:

1. Transform: Lift its body from a 2D sheet into a 3D structure.

2. Locomote: Use the same motor input to drive a gait (dragging or walking).

Table of Contents: 

These will be links to pages you create with each step of the project. For the proposal, you will create a new sub-page and link it below.

• 1.1 - Project Proposal