This paper presents the design of a new soft-rigid robotic platform, "GeoGami". We leverage origami surface capabilities to achieve shape contraction and to support locomotion with underactuated forms. A key challenge is that origami surfaces have high degrees of freedom and typically require many actuators; we address repeatability by integrating surface compliance. We propose a mono-actuated GeoGami mobile platform that combines origami surface compliance with a geometric compliant skeleton, enabling the robot to transform and locomote using a single actuator. We demonstrate the robot, develop a stiffness model, and describe the central gearbox mechanism. We also analyze alternative cable-driven actuation methods for the skeleton to enable surface transformation. Finally, we evaluate the GeoGami platform for capabilities, including shape transformation and rolling. This platform opens new capabilities for robots that change shape to access different environments and that use shape transformation for locomotion.

翻译：本文提出了一种新型软硬结合机器人平台“GeoGami”的设计方案。我们利用折纸表面的特性实现形状收缩，并通过欠驱动形式支持运动。一个关键挑战在于折纸表面具有高自由度，通常需要多个驱动器；我们通过集成表面柔顺性来解决可重复性问题。我们提出了一种单驱动GeoGami移动平台，将折纸表面柔顺性与几何柔性骨架相结合，使机器人能够仅使用单个驱动器实现变形与运动。我们展示了该机器人，建立了刚度模型，并阐述了核心齿轮箱机构。我们还分析了用于骨架的替代性缆绳驱动方法以实现表面变形。最后，我们评估了GeoGami平台在形状变换与滚动等方面的能力。该平台为通过形状变化进入不同环境以及利用形状变换实现运动的机器人开辟了新的可能性。