Origami, the art of paper sculpture, is a fresh challenge for the field of robotic manipulation, and provides a concrete example of the many difficulties and general manipulation problems faced in robotics. This paper describes our initial exploration, and highlights key problems in the manipulation, modeling, and design of foldable structures. Results include the design of the first origami-folding robot, a complete fold-sequence planner for a simple class of origami, and analysis of the kinematics of more complicated folds, including the common paper shopping bag.
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