Inverse origami design for soft robotic development

A non-transitory machine-readable medium, comprising executable instructions that, when executed by a processor, facilitate performance of operations, comprising:

• generating, based on properties of an input shape, an origami crease pattern representative of the input shape, wherein the origami crease pattern comprises respective origami cell units, and wherein the origami crease pattern is defined by parameters comprising a group of vector length parameters corresponding to relative fold lengths of the respective origami cell units, a vector angle parameter corresponding to fold angles associated with the respective origami cell units, and a scalar cell dimension parameter that defines a spatial dimension of the respective origami cell units;
• and
• imprinting the origami crease pattern onto a tangible sheet, the imprinting comprising forming openings into the tangible sheet at positions relative to the origami crease pattern;
• and
• activating, in response to formation of an origami shape resulting from folding of the tangible sheet based on the origami crease pattern, actuators implanted into the origami shape at the positions of the openings, resulting in movement of the origami shape.

A system, comprising:

• a processor;
• and
• a memory that stores executable instructions that, when executed by the processor, facilitate performance of operations, comprising:
• determining properties of a target shape;
• generating, based on the properties, an origami crease pattern representative of the target shape, the origami crease pattern comprising respective origami cell units and being defined by a group of first vector parameters corresponding to relative fold lengths of the origami cell units, a second vector parameter corresponding to fold angles of the origami cell units, and a scalar parameter corresponding to a height of the origami cell units;
• rendering the origami crease pattern onto a tangible sheet, the rendering comprising forming openings into the tangible sheet at positions relative to the origami crease pattern;
• and
• in response to folding of the tangible sheet based on the origami crease pattern, resulting in an origami shape, activating actuators implanted into the origami shape at the positions of the openings, resulting in movement of the origami shape.