Minimally Actuated Transformation of Origami Machines

Origami-inspired machines are a promising approach to robotic transformation. In this letter, we present a new method for transformation that uses dynamic response to change the mountain-valley fold pattern. We propose a dynamic model and validate it through experimental characterization of sample mechanisms. We demonstrate that these mechanisms reliably change their dynamic behavior at a discrete switching frequency, and this frequency can be changed by varying the stiffness and mass of the mechanism. This indicates that mechanisms can be designed to respond to different frequencies and selectively transform from a global input. We demonstrate a three-fingered gripping mechanism with a single actuator that can transform between four nontrivial configurations. We believe that this approach can be applied to several types of origami structures.