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In this study, we examine a rapid and reversible origami folding method byexploiting a combination of resonance excitation, asymmetric multi-stability,and active control. The underlying idea is that, by harmonically exciting amulti-stable origami at its resonance frequencies, one can induce rapid foldingbetween its different stable equilibria without the need for using responsivematerials. To this end, we use a bi-stable water-bomb base as an archetypalexample. Via numerical simulation based on a new dynamic model and experimentaltesting, we show that the inherent asymmetry of waterbomb bi-stability canenable dynamic folding with relatively low actuation requirements. For example,if the water-bomb initially settles at its "weak" stable state, one can use abase excitation to induce the intra-well resonance. As a result, the origamiwould fold and remain at the other "strong" stable state even if the excitationdoes not stop. The origami dynamics starting from the strong state, on theother hand, is more complicated. The water-bomb origami is prone to showinter-well oscillation rather than a uni-directional switch due to a nonlinearrelationship between the dynamic folding behavior, asymmetric potential energybarrier, the difference in resonance frequencies, and excitation amplitude.Therefore, we develop an active feedback control strategy, which cuts off thebase excitation input at the critical moment to achieve robust anduni-directional folding from the strong stable state to the weak one. Theresults of this study can apply to many different kinds of origami and create anew approach for rapid and reversible (self-)folding, thus advancing theapplication of origami in shape morphing systems, adaptive structures, andreconfigurable robotics.

Dynamic Folding of Origami By Exploiting Asymmetric Multi-Stability