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This paper presents a robot system to fold paper cranes automatically. It consists of a cutting plotter, two robot arms, and a base for papers. An origami paper with creases is prepared by the cutting plotter. Then the paper is placed on the base and folded by the arms. Suction pads on the base are selectively activated to fix the paper in the folding process. Paper folding is achieved with specially-designed tools for the robot arms without sensor feedback. Now the system can fold complete paper cranes, which include squash, petal, and inside reverse folds.

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A Robotic Origami Folder for Paper Cranes

  • 会议论文

  • 发表日期：

    2026年

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  • Yusuke Maeda,
  • Shoma Sugisawa,
  • Akitoshi Sakata

摘要

This paper presents a robot system to fold paper cranes automatically. It consists of a cutting plotter, two robot arms, and a base for papers. An origami paper with creases is prepared by the cutting plotter. Then the paper is placed on the base and folded by the arms. Suction pads on the base are selectively activated to fix the paper in the folding process. Paper folding is achieved with specially-designed tools for the robot arms without sensor feedback. Now the system can fold complete paper cranes, which include squash, petal, and inside reverse folds.