This is the CurveQuad: a centimeter-scale origami quadruped that uses curved creases to self-fold, unfold, walk, and steer with just one actuator. It has a rigid link under the body that rotates to pull the tendons and make transition between states happen.
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CurveQuad Origami Quadruped: IROS 2023 Video Attachment (Extended)
CurveQuad is only 8 centimeters long, weighing 11 grams. The above video from Sung Robotics Lab shows this robot in action.
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