Dynamic Modeling of Origami Reconfigurations via Triangulated Consensus

We examine an effective dynamic reconfiguration model for triangulated origami structures using planar straight-line graphs. In this setup, the origami panels are first represented as edges and vertices in an undirected triangular graph. A triangulated consensus protocol for the corresponding origami formation control problem is then developed, where state of the nodes reach agreement on target configuration while ensuring that the reconfiguration process is realizable by each panel– the setup is then extended to the entire triangulated origami structure. The proposed approach provides a general graph-theoretic framework for expressing the geometric evolution of diverse origami patterns during the folding/unfolding process.