Supplementary Materials

A method for building self-folding machines

S. Felton, M. Tolley, E. Demaine, D. Rus, R. Wood

Materials/Methods, Supplementary Text, Tables, Figures, and/or References

Download Supplement
  • Materials and Methods
  • Supplementary Text
  • Figs. S1 to S6
  • Tables S1 to S4
  • Captions for movies S1 and S2
  • References

Images, Video, and Other Other Media

Movie S1
The crawling machine self-assembled over 270 s. The self-assembling process occurs in five steps: outer leg folding, motor alignment, body folding, standing up, and inner leg folding. After self-assembly, it walks without any further intervention.
Movie S2
The assembly process uses planar fabrication methods to make assembly fast and easy. Fabrication requires a solid ink printer, a ferric chloride etch tank, a laser machining system, and a board and pins for aligning the layers.