ZipFold: Modular Actuators for Scaleable Adaptive Robots

• URL: http://arxiv.org/abs/2604.05260v1
• Date: Mon, 06 Apr 2026 23:50:03 GMT
• Title: ZipFold: Modular Actuators for Scaleable Adaptive Robots
• Abstract summary: This paper introduces a compact, easy-to-fabricate deployable actuator that achieves reversible scale and stiffness transformations.<n>The simple actuation method allows for smooth, continuous transitions between compact (flexible) and expanded (quasi-rigid) states.
• Score: 52.52738470247707
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: There is a growing need for robots that can change their shape, size and mechanical properties to adapt to evolving tasks and environments. However, current shape-changing systems generally utilize bespoke, system-specific mechanisms that can be difficult to scale, reconfigure or translate from one application to another. This paper introduces a compact, easy-to-fabricate deployable actuator that achieves reversible scale and stiffness transformations through compound folding and zipping of flexible 3D-printed plastic strips into square-section deployable beams. The simple actuation method allows for smooth, continuous transitions between compact (flexible) and expanded (quasi-rigid) states, facilitating diverse shape and stiffness transformations when modules are combined into larger assemblies. The actuator's mechanical performance is characterized and an integrated system involving a four-module adaptive walking robot is demonstrated.

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