Autonomy of Reconfigurable Space Robots
Dynamic Modeling and Control of Origami Systems
Controlling origami robots requires models that describe the coupled motion of panels and hinges during large shape changes. We developed a graph-based modeling framework that represents origami structures as networks of interconnected vertices and uses a triangulated consensus protocol to describe folding and unfolding while respecting panel-level geometric constraints. Building on this framework, we integrate state estimation and model identification with feedback control to regulate reconfiguration under changing dynamics and uncertain structural behavior. The controller accounts for actuation limits and adapts to the identified dynamic modes. Simulations on Kresling origami demonstrate accurate configuration regulation, including stabilization of an otherwise unstable shape.
Selected Publication:
1. Y. Tanaka*, R. Dai, and M. Mesbahi, “Dynamic Modeling of Origami Reconfigurations via Triangulated Consensus,” 2025 American Control Conferenc, Denver, CO.
2. Y. Tanaka*, R. Dai, L. Carrillo, M. Cleal, A. Sinclair, "Integrated Control and Model Identification of Origami Reconfiguration," 2025 American Control Conferenc, New Orleans, LA
Origami Pattern Design and Shape Transformation
We developed optimization-based methods for designing origami patterns that can transform into multiple prescribed three-dimensional shapes. Our approach represents an origami tessellation as a network of triangular panels and determines crease geometry and folding states that approximate target surfaces while satisfying geometric compatibility and foldability constraints. We further use graph rigidity theory to characterize the desired shapes and formulate transformation control problems that minimize control effort while preserving the required geometric relationships. By linking pattern design with transformation control, this work enables a single origami structure to realize multiple configurations rather than being restricted to one deployed shape, providing a foundation for multifunctional reconfigurable systems.
Selected Publication:
Origami-Inspired Space Debris Collection
We developed a deployable debris collector that combines compact storage with the ability to enclose and retain captured objects. Our design uses a conical Kresling origami pattern whose folding motion closes an aperture to form an enclosure. We optimize the structure’s geometry to reduce actuation energy while meeting volume and closure requirements, and integrate tether-driven actuation with multi-material three-dimensional printing to combine rigid panels and flexible hinges. Laboratory prototype tests demonstrate the folding and enclosure functions, connecting geometric optimization with practical fabrication and actuation. This work supports the development of compact debris-collection mechanisms and manufacturing approaches with potential for future in-orbit production.
Selected Publication:
Y. Tanaka*, A. Anibha*, R. Gul*, L. Jung*, J. Sun*, R. Dai, "An Origami-Inspired Deployable Space Debris Collector", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.