Hyper Yoshimura: How a slight tweak on a classical folding pattern unleashes meta-stability for deployable robots

Abstract: Deployable structures inspired by origami offer lightweight, compact, and reconfigurable solutions for robotic and architectural applications. We present a geometric and mechanical framework for Yoshimura-Ori modules that supports a diverse set of metastable states, including newly identified asymmetric "pop-out" and "hyperfolded" configurations. These states are governed by three parameters -- tilt angle, phase shift, and slant height -- and enable discrete, programmable transformations. Using this model, we develop forward and inverse kinematic strategies to stack modules into deployable booms that approximate complex 3D shapes. We validate our approach through mechanical tests and demonstrate a tendon- and pneumatically-actuated Yoshimura Space Crane capable of object manipulation, solar tracking, and high load-bearing performance. A meter-scale solar charging station further illustrates the design's scalability. These results establish Yoshimura-Ori structures as a promising platform for adaptable, multifunctional deployable systems in both terrestrial and space environments.