Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments often comes at the cost of additional actuation channels and control complexity. Here, we introduce a tendon-driven origami tentacle gripper capable of universal object gripping by exploiting a synergy between local, deterministic deformation programming and global, stochastic entanglements. Each origami tentacle is made by cutting thin Mylar sheets; It features carefully placed holes for routing an actuation tendon, origami creases for controlling the deformation, and a tapered shape. By tailoring these design features, one can prescribe the shrinking, bending, and twisting deformation, eventually creating deterministic coiling with a simple tendon pull. Then, when multiple coiling tentacles are placed in proximity, stochastic entanglement emerges, allowing the tentacles to braid, knot, and grip objects with random shapes. We derived a simulation model by integrating origami mechanics with Cosserat rods to correlate origami design, tendon deformation, and their collective gripping performance. Then, we experimentally tested how these coiling and entangling origami tentacles can grasp objects under gravity and in water. A stow-and-release deployment mechanism was also tested to simulate in-orbit grasping. Overall, the entertaining origami tentacle gripper presents a new strategy for robust object grasping with simple design and actuation.

翻译：受折纸启发的机器人抓取器因其紧凑的体积和机械灵活性，在物体操作任务中展现出巨大潜力。然而，在动态工作环境中稳健抓取随机形状的物体往往需要额外的驱动通道和控制复杂度。本文提出一种肌腱驱动的折纸触手抓取器，通过利用局部确定性变形编程与全局随机纠缠的协同作用，实现通用物体抓取。每个折纸触手由薄Mylar片切割而成，具有精心布置的驱动肌腱通道孔、控制变形的折痕以及锥形结构。通过定制这些设计特征，可以预设收缩、弯曲和扭曲变形，最终通过简单的肌腱拉动产生确定性卷曲。当多个卷曲触手靠近放置时，产生随机纠缠，使触手能够编织、打结并抓取随机形状的物体。我们通过将折纸力学与Cosserat杆理论集成，推导出仿真模型，以关联折纸设计、肌腱变形及其集体抓取性能。随后，通过实验测试了这些卷曲和纠缠折纸触手在重力和水下环境中的抓取能力。还测试了收纳释放部署机制以模拟在轨抓取。总体而言，这种趣味性的折纸触手抓取器为通过简单设计和驱动实现稳健物体抓取提供了一种新策略。