3. Modeling and synthesis

As with any robotic system, controlling a robot built on the basis of origami requires the implementation of models to describe its behavior. For conventional polyarticulated architectures, the models of interest are those linking the state of actuated links to variables describing the state of the end effector. Readers are referred to [S 7 730] for definitions of geometric, kinematic and dynamic models. The models available for origami are essentially geometric. On the one hand, this is due to the complexity of these structures, for which work is still in progress to complete modeling...