  The leaf-like origami structure was inspired by geometric patterns found in
nature, exhibiting unique transitions between open and closed shapes. With a
bistable energy landscape, leaf-like origami is able to replicate the
autonomous grasping of objects observed in biological systems like the Venus
flytrap. We show uniform grasping motions of the leaf-like origami, as well as
various non-uniform grasping motions which arise from its multi-transformable
nature. Grasping motions can be triggered with high tunability due to the
structure's bistable energy landscape. We demonstrate the self-adaptive
grasping motion by dropping a target object onto our paper prototype, which
does not require an external power source to retain the capture of the object.
We also explore the non-uniform grasping motions of the leaf-like structure by
selectively controlling the creases, which reveals various unique grasping
configurations that can be exploited for versatile, autonomous, and
self-adaptive robotic operations.
