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Universal Self-Folding Chain Robot

Authors

Sergio Mutis

Alexander Htet Kyaw

Diana Mykhaylychenko

Erik Demaine

Institution

MIT

Year

2025

Description

Universal Self-Folding Chain Robot is a programmable modular robotic system that transforms a single continuous chain into multiple three-dimensional configurations through algorithmic folding. The project combines geometric discretization, a chain-finding algorithm, and a self-folding robotic chain to translate target geometries into executable folding sequences, framing shape change as a computational planning problem rather than a fixed form.

Role

Responsible for robotic design, fabrication, and testing, and for implementing the folding algorithm, with collaboration on the chain-finding pipeline.

Type:

Reseach

Conference

ACM - SCF

Robot Design

The system consists of a 1.8 m self-folding robotic chain composed of 12 two-degree-of-freedom modular units arranged in a continuous kinematic sequence.

Robot Assembly

Each module uses a spherical shell with asymmetric apertures, a circular socket and a 270° slotted opening, through which an articulated arm connects to the next module, enabling continuous daisy-chained folding and rotation.

Volume to Hamiltonian Folding Algorithmic Pipeline

Target volumes are discretized into a set of spatial nodes matching the robot’s module geometry, after which a chain-finding algorithm computes a continuous ordering through all nodes. The resulting path is converted into a sequence of yaw and pitch angles, producing an executable folding plan that maps geometric structure directly to physical actuation.

2D Studies

Initial two-dimensional studies were used to validate chain continuity, folding feasibility, and angle computation in a planar setting, providing a controlled substrate for debugging discretization, path planning, and folding logic prior to three-dimensional deployment.

3D Studies

Three-dimensional studies explore how computed folding sequences translate into coordinated out-of-plane motion, examining kinematic feasibility, joint constraints, and spatial self-interference during volumetric reconfiguration.

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