Kinegami: Algorithmic Design of Compliant Kinematic Chains From Tubular Origami

December 1st, 2022

2022 Transaction on Robotics.

Authors: Wei-Hsi Chen, Woohyeok Yang, Lucien Peach, Daniel E. Koditschek, and Cynthia R. Sung. We present a “Kinegami” algorithm that converts a Denavit-Hartenberg specification into a single-sheet crease pattern for an equivalent serial robot mechanism by composing origami modules from a “Tubular Origami Catalogue.”