Robotic origami folding

Origami, the art of paper sculpture, is a fresh challenge for the field of robotic manipulation, and provides a concrete example for many difficult and general manipulation problems. This paper describes our initial exploration, and highlights key problems in manipulation, modeling, and design of foldable structures. Results include 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.