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We present an approach to overcoming challenges in dynamical dexterity forrobots through tunable origami structures. Our work leverages a one-parameterfamily of flat sheet crease patterns that folds into origami bellows, whoseaxial compliance can be tuned to select desired stiffness. Concentricallyarranged cylinder pairs reliably manifest additive stiffness, extending thetunable range by nearly an order of magnitude and achieving bulk axialstiffness spanning 200-1500 N/m using 8 mil thick polyester-coated paper.Accordingly, we design origami energy-storing springs with a stiffness of 1035N/m each and incorporate them into a three degree-of-freedom (DOF)tendon-driven spatial pointing mechanism that exhibits trajectory trackingaccuracy less than 15% rms error within a ~2 cm^3 volume. The origami springscan sustain high power throughput, enabling the robot to achieve asymptoticallystable juggling for both highly elastic (1~kg resilient shot put ball) andhighly damped ("medicine ball") collisions in the vertical direction with apexheights approaching 10 cm. The results demonstrate that "soft" roboticmechanisms are able to perform a controlled, dynamically actuated task.

A Tunably Compliant Origami Mechanism for Dynamically Dexterous Robots