Stochastic Entanglement of Deterministic Origami Tentacles For Universal Robotic Gripping

2026-04-29

AI Summary

This work addresses the challenge of robustly grasping objects of arbitrary shape in dynamic environments using structurally simple origami grippers. The authors propose a tendon-driven origami tentacle gripper that uniquely integrates local deterministic folding with global stochastic entanglement, enabling coiling, wrapping, and adaptive grasping through actuation of a single tendon. Fabricated from laser-cut Mylar sheets, the gripper incorporates customized crease patterns, tendon routing, and a tapered geometry, with its mechanics modeled using origami theory and Cosserat rod framework. Experimental results demonstrate its ability to reliably and efficiently grasp diverse objects under gravity, underwater, and in simulated on-orbit conditions, highlighting remarkable versatility and environmental adaptability achieved with minimal actuation complexity.

Abstract

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.

Problem

• robotic gripping
• random-shaped objects
• dynamic environments
• actuation complexity
• universal grasping

Innovation

• origami robotics
• stochastic entanglement
• tendon-driven actuation
• universal gripping
• deterministic deformation