Developing a Mono-Actuated Compliant GeoGami Robot

Abstract: This paper presents the design of a new soft-rigid robotic platform, "GeoGami". We leverage origami surface capabilities to achieve shape contraction and to support locomotion with underactuated forms. A key challenge is that origami surfaces have high degrees of freedom and typically require many actuators; we address repeatability by integrating surface compliance. We propose a mono-actuated GeoGami mobile platform that combines origami surface compliance with a geometric compliant skeleton, enabling the robot to transform and locomote using a single actuator. We demonstrate the robot, develop a stiffness model, and describe the central gearbox mechanism. We also analyze alternative cable-driven actuation methods for the skeleton to enable surface transformation. Finally, we evaluate the GeoGami platform for capabilities, including shape transformation and rolling. This platform opens new capabilities for robots that change shape to access different environments and that use shape transformation for locomotion.