Self Folding Modular Chain

This paper presents a programmable self-folding modular robotic chain that transforms input 3D geometries into reconfigurable objects. The system combines geometric discretization, a path-finding and folding algorithm, and custom modular hardware to realize target shapes. A 12-module prototype approximates objects like a table, stool, and steps, demonstrating transitions between 2D and 3D with stable, limited load-bearing configurations.