用物理仿真加速折纸机构设计，实现快速优化与验证。
From Fold to Function: Simulation-Driven Design of Origami Mechanisms
- 将折纸结构建模为可变形元素图，通过图形界面定义折痕与驱动。
- 基于CMA-ES算法优化折纸弹射器参数，实验验证性能提升。
- 适合机器人、可展开系统等领域的快速原型设计与仿真。
受折纸启发的机构可将平面薄片转化为轻量化、紧凑且具备复杂运动能力的三维动态结构，在机器人与可展开系统中日益重要。然而，准确模拟其折叠行为及与环境的交互仍具挑战。为此，我们提出一种基于MuJoCo可变形体特性的折纸机构仿真设计框架。在该方法中，折纸片被表示为由用户自定义约束（如折痕、驱动）连接的可变形元素图，通过直观的图形用户界面进行定义。该框架支持生成物理一致的仿真，能捕捉折纸机构的几何结构及其与外部物体和表面的相互作用。我们在折纸弹射器案例中展示了该方法的有效性：利用协方差矩阵自适应进化策略（CMA-ES）在仿真中优化设计参数，并对物理原型进行实验验证。优化后的结构显著提升了投掷性能，证明了本系统在实现快速、仿真驱动的折纸设计、优化与分析方面的潜力。
原文摘要 · Abstract (English)
Origami-inspired mechanisms can transform flat sheets into functional three-dimensional dynamic structures that are lightweight, compact, and capable of complex motion. These properties make origami increasingly valuable in robotic and deployable systems. However, accurately simulating their folding behavior and interactions with the environment remains challenging. To address this, we present a design framework for origami mechanism simulation that utilizes MuJoCo's deformable-body capabilities. In our approach, origami sheets are represented as graphs of interconnected deformable elements with user-specified constraints such as creases and actuation, defined through an intuitive graphical user interface (GUI). This framework allows users to generate physically consistent simulations that capture both the geometric structure of origami mechanisms and their interactions with external objects and surfaces. We demonstrate our method's utility through a case study on an origami catapult, where design parameters are optimized in simulation using the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) and validated experimentally on physical prototypes. The optimized structure achieves improved throwing performance, illustrating how our system enables rapid, simulation-driven origami design, optimization, and analysis.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。