Designing a robot or structure that can fold itself into a target shape is a process that involves challenges originated from multiple sources. For example, the designer of rigid self-folding robots must consider foldability from geometric and kinematic aspects to avoid self-intersection and undesired deformations. Recent works have shown success in estimating foldability of a design using robot motion planners. However, many foldable structures are actuated using physically coupled reactions (i.e., folding originated from thermal, chemical, or electromagnetic loads). Therefore, a reliable foldability analysis must consider additional constraints that resulted from these critical phenomena. This work investigates the idea of efficiently incorporating computationally expensive physics simulation within the folding motion planner to provide a better estimation of the foldability. In this paper, we will use laser forming origami as an example to demonstrate the benefits of considering the properties beyond geometry. We show that the design produced by the proposed method can be folded more efficiently.

中文翻译：

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以激光成形折纸和热行为为例，通过仿真在循环中计划折叠运动

设计可以折叠成目标形状的机器人或结构是一个过程，涉及到来自多个来源的挑战。例如，刚性自折叠机器人的设计者必须从几何和运动学角度考虑可折叠性，以避免自相交和不希望的变形。最近的工作已显示出在使用机器人运动计划器估算设计的可折叠性方面的成功。然而，许多可折叠结构是使用物理耦合反应（即，源自热，化学或电磁负载的折叠）来致动的。因此，可靠的可折叠性分析必须考虑由这些严重现象引起的其他约束。这项工作研究了在折叠运动计划器中有效地合并计算上昂贵的物理模拟的想法，以提供对折叠性的更好估计。在本文中，我们将以激光成型折纸为例来说明考虑几何以外的特性的好处。我们表明，所提出的方法产生的设计可以更有效地折叠。