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Pop-Up Catcher: A Flat-Foldable Gripper Using Multistate Passive Actuation.

Sung-Jin Lee1, JaeHyung Jang2, Jee-Hwan Ryu2

  • 1Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea.

Soft Robotics
|March 25, 2026
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Summary
This summary is machine-generated.

This study introduces a novel origami-inspired "pop-up catcher" robot gripper. This gripper achieves multistate passive actuation, enabling it to fold flat and autonomously grasp objects at a distance.

Keywords:
grippermultistateorigamipassive actuationpathpotential energy

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Area of Science:

  • Robotics
  • Origami Engineering
  • Mechanical Metamaterials

Background:

  • Origami techniques enhance robotic shape transformation capabilities.
  • Pop-up transformations offer potential for deployable robots.
  • Designing flat-foldable, passively actuated origami robots presents significant challenges.

Purpose of the Study:

  • To introduce a novel gripper, the "pop-up catcher," for multistate passive actuation.
  • To enable robots to transition from a flat state to an actively grasping state.
  • To demonstrate reliable state transitions through transition path planning.

Main Methods:

  • Development of a flat-foldable catcher utilizing a pop-up gripper and self-locking modular Sarrus origami.
  • Implementation of transition path planning with potential energy surface modulation for reliable state transitions.
  • Experimental demonstration of pop-up deployment and passive object capture.

Main Results:

  • The pop-up catcher can be folded into a compact profile under 25 mm thickness.
  • The gripper demonstrates passive actuation for grasping objects.
  • Successful capture of objects located over 500 mm away was achieved.

Conclusions:

  • The developed pop-up catcher successfully integrates multistate passive actuation with a flat-foldable origami design.
  • Transition path planning is effective in ensuring reliable state transitions for origami robots.
  • This technology holds promise for novel deployable robotic systems and remote object manipulation.