| Origami, the human 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 thesis will present some initial results, including the world's first origami folding robot, some new theorems about foldability, definition of a simple class of origami for which I have designed a complete automatic planner, analysis of the kinematics of more complicated folds, and some observations about the configuration spaces of compound spherical closed chains. |
