CurveQuad: A Centimeter-Scale Origami Quadruped that Leverages Curved Creases to Self-Fold and Crawl with One Motor
Daniel Feshbach,Xuelin Wu,Satviki Vasireddy,Louis Beardell,Bao To,Yuliy Baryshnikov,Cynthia Sung,Daniel Feshbach,Xuelin Wu,Satviki Vasireddy,Louis Beardell,Bao To,Yuliy Baryshnikov,Cynthia Sung
We present CurveQuad, a miniature curved origami quadruped that is able to self-fold and unfold, crawl, and steer, all using a single actuator. CurveQuad is designed for planar manufacturing, with parts that attach and stack sequentially on a flat body. The design uses 4 curved creases pulled by 2 pairs of tendons from opposite ends of a link on a 270°servo. It is 8 cm in the longest direction and...
