Science Robotics

Supplementary Materials

The PDF file includes:

  • Text
  • Fig. S1. Estimation of the inner diameter of a fully folded cyclic Miura-ori ring.
  • Fig. S2. Finite elements simulations setup.
  • Fig. S3. Top view of a model displaying the angles between successive external vertices.
  • Fig. S4. Stiffness of each model in the parametric matrix.
  • Fig. S5. Energy absorbed by each model in the parametric matrix.
  • Fig. S6. Ratio of height to width of each model in the parametric matrix.
  • Fig. S7. Mass of each model in the parametric matrix.
  • Fig. S8. Specific energy for each model in the parametric matrix.
  • Fig. S9. Peak reaction force for each model in the parametric matrix.
  • Fig. S10. Effect of the width of the most external facets (parameter E).
  • Fig. S11. Force and angular speed profiles at a contact angle of 60° for naked and origami-protected configuration on rough and smooth surfaces.
  • Fig. S12. Force and angular speed profiles at a contact angle of 30° for naked and origami-protected configuration on rough and smooth surfaces.
  • Fig. S13. Force and angular speed profiles at a contact angle of 60° for fixed and rotary configuration on rough and smooth surfaces.
  • Fig. S14. Force and angular speed profiles at a contact angle of 90° for fixed and rotary configuration on rough and smooth surfaces.
  • Fig. S15. Mechanical and electronic setup of the collision experiments.
  • Fig. S16. Manufacturing process of the Rotorigami.
  • Table S1. Summary of experimental results.
  • Table S2. Control registers for the IMU.
  • Legends for movies S1 to S4
  • Reference (103)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Oblique collision to a rough surface at a contact angle of 30° for the origami-protected and naked systems in the fixed and rotary configurations at 1.2 m/s (0.03×).
  • Movie S2 (.mp4 format). Oblique collision to a rough surface at a contact angle of 60° for the origami-protected and naked systems in the fixed and rotary configurations at 1.2 m/s (0.03×).
  • Movie S3 (.mp4 format). Normal collision to a rough surface for the origami-protected and naked systems in the fixed and rotary configurations at 1.2 m/s (0.03×).
  • Movie S4 (.mp4 format). Normal collision to a rough surface for the origami-protected system in the fixed and rotary configurations at 2 m/s (0.03×) and collisions of the aerial vehicle in the Rotorigami configuration with different obstacles during flight demonstrations.

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