Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of these approaches have achieved the ability to seamlessly transform into a multitude of volumetric shapes post-fabrication using a relatively simple actuation and control mechanism. Taking inspiration from thick origami and hierarchies in nature, we present a new hierarchical construction method based on polyhedrons to create an extensive library of compact origami metastructures. We show that a single hierarchical origami structure can autonomously adapt to over 103 versatile architectural configurations, achieved with the utilization of fewer than 3 actuation degrees of freedom and employing simple transition kinematics. We uncover the fundamental principles governing theses shape transformation through theoretical models. Furthermore, we also demonstrate the wide-ranging potential applications of these transformable hierarchical structures. These include their uses as untethered and autonomous robotic transformers capable of various gait-shifting and multidirectional locomotion, as well as rapidly self-deployable and self-reconfigurable architecture, exemplifying its scalability up to the meter scale. Lastly, we introduce the concept of multitask reconfigurable and deployable space robots and habitats, showcasing the adaptability and versatility of these metastructures.

翻译：形状变形能力对于生物和人工系统实现多功能性至关重要。针对超材料与机器人学中的形状变形，已有多种策略被提出。然而，鲜有方法能够在使用相对简单的驱动与控制机制的情况下，实现在制造后无缝转化为多种体积形状的能力。受厚折纸与自然界层级结构的启发，我们提出一种基于多面体的新型层级构建方法，以构建包含丰富构型的紧凑折纸超结构库。研究表明，单个层级折纸结构可自主适应超过103种多功能建筑构型，且仅需少于3个驱动自由度并采用简单过渡运动学即可实现。通过理论模型，我们揭示了这些形状变换的基本原理。此外，我们还展示了这些可变形层级结构的广泛潜在应用，包括作为无缆自主机器人变压器——能够实现多种步态转换与多方向运动，以及作为快速自展开与自重构建筑，验证了其从厘米级至米级的可扩展性。最后，我们引入了多任务可重构与可展开太空机器人及栖息地的概念，彰显了这些超结构的适应性与多功能性。