Introducing robotic origami folding

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 paper presents some initial results, including the world´s first origami-folding robot, definition of a simple class of origami for which we have designed a complete automatic planner, an analysis of the kinematics of more complicated folds, and some new theorems about foldability.