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Lookup NU author(s): Dr Weicheng Huang
This work is licensed under a Creative Commons Attribution 4.0 International License (CC BY 4.0).
© 2026 The Author(s). Advanced Science published by Wiley-VCH GmbH.Origami-inspired architectures offer a powerful route toward lightweight, reconfigurable, and programmable robotic systems. Yet, a unified mechanics framework capable of seamlessly bridging rigid folding, elastic deformation, and stability-driven transitions in compliant origami remains lacking. Here, we introduce a geometry-consistent modeling framework based on discrete differential geometry (DDG) that unifies panel elasticity and crease rotation within a single variational formulation. By embedding crease–panel coupling directly into a mid-edge geometric discretization, the framework naturally captures rigid-folding limits, distributed bending, multistability, and nonlinear dynamic snap-through within one mechanically consistent structure. This unified description enables programmable control of stability and deformation across rigid and compliant regimes, allowing origami structures to transition from static folding mechanisms to active robotic modules. An implicit dynamic formulation incorporating gravity, contact, friction, and magnetic actuation further supports strongly coupled multiphysics simulations. Through representative examples spanning single-fold bifurcation, deployable Miura membranes, bistable Waterbomb modules, and Kresling-based crawling robots, we demonstrate how geometry-driven mechanics directly informs robotic functionality. This work establishes discrete differential geometry as a foundational design language for intelligent origami robotics, enabling predictive modeling, stability programming, and mechanics-guided robotic actuation within a unified computational platform.
Author(s): Zhang B, Wang B, Ouyang H, Wu Z, Bi H, Xu J, Liu M, Huang W
Publication type: Article
Publication status: Published
Journal: Advanced Science
Year: 2026
Pages: epub ahead of print
Online publication date: 24/07/2026
Acceptance date: 06/07/2026
Date deposited: 04/08/2026
ISSN (print): 2198-3844
ISSN (electronic): 2198-3844
Publisher: John Wiley and Sons Inc
URL: https://doi.org/10.1002/advs.76715
DOI: 10.1002/advs.76715
Data Access Statement: The data that support the findings of this study are available from the corresponding author upon reasonable request.
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