Modular and self-scalable origami robot: A first approach Articles uri icon

publication date

  • June 2021

start page

  • 1

end page

  • 23


  • 12


  • 9

International Standard Serial Number (ISSN)

  • 2227-7390


  • This paper presents a proposal of a modular robot with origami structure. The proposal is based on a self-scalable and modular link made of soft parts. The kinematics of a single link and several links interconnected is studied and validated. Besides, the link has been prototyped, identified, and controlled in position. The experimental data show that the system meets the scalability requirements and that its response is totally reliable and robust.


  • Robotics and Industrial Informatics


  • modular robots; origami structures; self-scalable robots