Paper-Based Bistable Origami Gripper to Make Quadcopters Multi-Functional

Shuta Okamoto, Yuki Fukatsu, Chinthaka Premachandra, Hiroki Shigemune

Research output: Contribution to journalArticlepeer-review


Quadcopters have many promising applications in transportation, agriculture, construction, and environmental monitoring. For further utilization, researches on attaching grasping function devices such as manipulators and grippers to quadcopters are gaining attention. Device mounting significantly impacts flight due to weight and center-of-gravity shifts. We developed a self-folded origami gripper (SOG) based on paper self-folding technology. The SOG consists of a bistable structure and a multilayer cylindrical structure. The origami structure is created by self-folding technology using ink-jet printing, which gives the paper elastic hinges and rigidity. The optimal parameters for designing the grasping function of the SOG were identified to improve the grasping performance. The SOG itself weighs only 5 g, yet it demonstrated grasping force equivalent to holding a 130 g object in the grasping force experiment. Eventually, the developed SOG was mounted on a quadcopter, and flight-grasping experiments were successfully conducted. The developed SOG is made entirely of paper, a biodegradable material. When the SOG falls to the ground due to an accident or deterioration, it is expected to be used as a green grasping device that returns to the soil and does not destroy the environment.

Original languageEnglish
Pages (from-to)4511-4518
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number5
Publication statusPublished - 2024 May 1


  • Soft robot materials and design
  • bistable mechanism
  • grasping
  • origami
  • paper mechatronics

ASJC Scopus subject areas

  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering
  • Computer Science Applications


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