Origami designs and structures have been widely used in many fields, such as morphing structures, robotics, and metamaterials. However, the design and fabrication of origami structures rely on human experiences and skills, which are both time and labor-consuming. In this paper, we present a rapid design and fabrication method for string-driven origami structures and robots. We developed an origami design software to generate desired crease patterns based on analytical models and Evolution Strategies (ES). Additionally, the software can automatically produce 3D models of origami designs. We then used a dual-material 3D printer to fabricate those wrapping-based origami structures with the required mechanical properties. We utilized Twisted String Actuators (TSAs) to fold the target 3D structures from flat plates. To demonstrate the capability of these techniques, we built and tested an origami crawling robot and an origami robotic arm using 3D-printed origami structures driven by TSAs.

In this paper, a new UAV dataset is presented to support UAV research, such as high-precision positioning and dynamic calibration. The presented dataset is divided into two categories based on different research needs. The first category of the dataset contains visual, inertial, and motor encoder information collected in the indoor motion capture room. This dataset provides accurate ground truth generated by motion capture, which is suitable for the study of UAV dynamics model. The other category of the dataset is collected in a variety of complex outdoor scenarios, and the multi-sensor fusion localization algorithm is used to generate high-precision ground truth trajectory, this category of the dataset could be used for research in UAV positioning and scene reconstruction in complex environments. In short, a total of nine sequences of the dataset are provided. More importantly, the timestamps of raw measurements in each sequence are well synchronized and accurately calibrated. The dataset also provides accurate extrinsic and intrinsic parameters and ground truth trajectories.