Self-Folding by Uniform Heating

 We demonstrate a new approach to autonomous folding for the body of a 3D robot from a 2D sheet using heat. We approach this challenge by folding a 0.27mm sheet-like material into a structure. We utilize the thermal deformation of a contractive sheet sandwiched by rigid structural layers. During this “baking” process, the heat applied on the entire sheet induces contraction of the contracting layer and, thus, forms an instructed bend in the sheet.