Self-deployable glider

Generally, origami structures are composed of flat rigid facets. By using curved compliant facets instead of flat rigid facets, we endowed the origami structure with the ability to self-deploy and self-lock. When the origami structure is folded, the curved facets gradually flatten, and potential energy is stored on the flattened facets. By using the stored energy, the structure can rapidly deploy without an actuator. The geometry of the curved facet generates a notably high joint stiffness in the deployed state, which can be used as a self-locking mechanism.

In jump-gliding, the gliding wing should be foldable and lightweight for efficient jumping and capable of rapid deployment for efficient gliding. By applying the suggested origami structure as a basic frame, the deployable gliding wing module can satisfy these requirements. The wing span of the module is 44.7 cm, and it weighs20.3 g including a battery and a servo motor. The module can be folded in 1/8.1 of the deployed area, and it deploys within 350 ms when it needs to glide.

Related papers and patents

Sang-Min Baek, Sojung Yim, Soo-Hwan Chae, Dae-Young Lee, and Kyu-Jin Cho, "Ladybird beetle-inspired compliant origami", Science Robotics, 2020. [PDF][Science Robotics][Youtube]

Sang-Min Baek, Dae-Young lee, Kyu-Jin Cho, "Curved Compliant Facet Origami-based Self-deployable Gliding Wing Module for Jump-gliding", ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference

Sang-Min Baek, Dae-Young Lee, and Kyu-Jin Cho, "Foldable Gliding Wing Module for Jump-Gliding", International Symposium on Nature-Inspired Technology(ISNIT 2016), 2016

Sang-Min Baek, Dae-Young Lee, Kyu-Jin Cho, "Deployable Glider Module for Jump-Gliding Robot" International Conference on Control, Automation and Systems(ICCAS 2017), 2017

Sang-Min Baek, Dae-Young Lee, and Kyu-Jin Cho, Development of Foldable Glider for Multi-modal Robot, 14th International Conference on Intelligent Unmanned Systems (ICIUS 2018), 2018


Popular Science, "These fold-up robots fly just like ladybugs" [Link]

IEEE spectrum, Video Friday: "Video Friday : ‘Insects set an incredibly high standard for bioinspired robots, but SNU might be catching up!" [Link]

Heise online, "Robotik-Forschung: Marienkäfer als Vorbild für Robotergleiter" [Link]

Wordlap, "These fold-up robots fly identical to ladybugs" [Link]

Cosmos, "Robot, fly like a ladybug" [Link]

조선일보, "로봇 날개가 무당벌레처럼 '촤르륵'" [Link]

동아사이언스, "서울대팀 개발한 무당벌레처럼 뛰고 나는 로봇 '사이언스 로보틱스' 표지에" [Link]

[아시아경제], [로봇신문],[news1],[ssj뉴스],[이데일리],[데이터넷]


Related papers and patents


· E-mail : bsm6656 at
· Research Topic : Bio-inspired robots & Origami-inspired robots

Ph.D. Candidate

Sang-Min Baek