{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T08:45:51Z","timestamp":1773045951697,"version":"3.50.1"},"reference-count":50,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"108","funder":[{"DOI":"10.13039\/501100014188","name":"Ministry of Science and ICT, South Korea","doi-asserted-by":"publisher","award":["RS-2023-00208052"],"award-info":[{"award-number":["RS-2023-00208052"]}],"id":[{"id":"10.13039\/501100014188","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["www.science.org"],"crossmark-restriction":true},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2025,11,26]]},"abstract":"<jats:p>Extendable structures often use rollable designs, with long, flexible materials that can be wound onto a hub for storage without the need for joints. However, achieving high stiffness and strength in the extended state while keeping the hub compact is challenging, given that stiff structures are difficult to bend and typically require larger hubs for storage. Here, we introduce a corrugated sheet\u2013shaped foldable design that enables Z-folding by connecting multiple strips in parallel. The unfolded, corrugated form structure offers a high load-bearing capacity, and the folded, stacked form structure can be smoothly rolled onto a hub, enabling fold-and-roll storage. The key innovation is the formation of an interlaced origami structure by connecting strips through a ribbon-weaving technique. This interlacing design enables both localized flexibility and mutual constraints between strips: The localized flexibility accommodates perimeter differences between stacked strips during rolling, and the densely repeated mutual constraints make the corrugation resist excessive deformation under external forces. Using these structures, we made two deployable mobile robots: one with a 1.6-meter deployable arm for shelving tasks and another with a tetrahedral deployable frame that supported a meter-scale 3D-printing system. Our results showcase the potential of this interlaced, corrugated approach for deployable robotic systems requiring both compactness and strength.<\/jats:p>","DOI":"10.1126\/scirobotics.adv4696","type":"journal-article","created":{"date-parts":[[2025,11,26]],"date-time":"2025-11-26T18:58:41Z","timestamp":1764183521000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":2,"title":["Foldable and rollable interlaced structure for deployable robotic systems"],"prefix":"10.1126","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1644-5111","authenticated-orcid":true,"given":"Sun-Pill","family":"Jung","sequence":"first","affiliation":[{"name":"Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul 08826, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-5796-1322","authenticated-orcid":true,"given":"Jaeyoung","family":"Song","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul 08826, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2115-217X","authenticated-orcid":true,"given":"Chan","family":"Kim","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul 08826, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8540-2364","authenticated-orcid":true,"given":"Haemin","family":"Lee","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul 08826, Republic of Korea."},{"name":"Mand.ro Co., Ltd., Bucheon 14557, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-7927-4069","authenticated-orcid":true,"given":"Inchul","family":"Jeong","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul 08826, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-2391-4728","authenticated-orcid":true,"given":"Jongmin","family":"Kim","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul 08826, Republic of Korea."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2555-5048","authenticated-orcid":true,"given":"Kyu-Jin","family":"Cho","sequence":"additional","affiliation":[{"name":"Biorobotics Laboratory, Soft Robotics Research Center, Institute of Advanced Machines and Design, Department of Mechanical Engineering, Institute of Engineering, Seoul National University, Seoul 08826, Republic of Korea."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.actaastro.2010.02.021"},{"key":"e_1_3_2_3_2","doi-asserted-by":"crossref","unstructured":"S. Teshigawara H. H. Asada \u201cA mobile extendable robot arm: Singularity analysis and design\u201d in 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE 2019) pp. 5131\u20135138.","DOI":"10.1109\/IROS40897.2019.8967768"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2022.0233"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3232267"},{"key":"e_1_3_2_6_2","doi-asserted-by":"crossref","unstructured":"C. C. Kemp A. Edsinger H. M. Clever B. Matulevich \u201cThe design of stretch: A compact lightweight mobile manipulator for indoor human environments\u201d in 2022 International Conference on Robotics and Automation (ICRA) (IEEE 2022) pp. 3150\u20133157.","DOI":"10.1109\/ICRA46639.2022.9811922"},{"key":"e_1_3_2_7_2","doi-asserted-by":"crossref","unstructured":"J. Li R. Liu L. Zhang S. Zuo H. Wang \u201cConfiguration synthesis and design of a telescopic service robot\u201d in 2018 International Conference on Virtual Reality and Intelligent Systems (ICVRIS) (IEEE 2018) pp. 442\u2013445.","DOI":"10.1109\/ICVRIS.2018.00114"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aan3028"},{"key":"e_1_3_2_9_2","unstructured":"C. D. Woodruff G. E. Woodruff US Patent 9 267 640 (2016)."},{"key":"e_1_3_2_10_2","doi-asserted-by":"crossref","unstructured":"F. Collins M. Yim \u201cDesign of a spherical robot arm with the spiral zipper prismatic joint\u201d in 2016 IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2016) pp. 2137\u20132143.","DOI":"10.1109\/ICRA.2016.7487363"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aam8986"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adi9762"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.asr.2020.06.029"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar2915"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10659-021-09860-6"},{"key":"e_1_3_2_16_2","unstructured":"E. Groskopfs US Patent 3 434 674 (1969)."},{"key":"e_1_3_2_17_2","unstructured":"J. M. Fernandez \u201cAdvanced deployable shell-based composite booms for small satellite structural applications including solar sails\u201d in International Symposium on Solar Sailing 2017 NF1676L-25486 (2017)."},{"key":"e_1_3_2_18_2","doi-asserted-by":"crossref","unstructured":"F. Rehnmark M. Pryor B. Holmes D. Schaechter N. Pedreiro C. Carrington \u201cDevelopment of a deployable nonmetallic boom for reconfigurable systems of small spacecraft\u201d in 48th AIAA\/ASME\/ASCE\/AHS\/ASC Structures Structural Dynamics and Materials Conference (AIAA 2007) p. 2184.","DOI":"10.2514\/6.2007-2184"},{"key":"e_1_3_2_19_2","doi-asserted-by":"crossref","unstructured":"L. Nicholson M. W. Folkers T. W. Murphey \u201cRollable composite boom and deployer mechanism technologies\u201d in AIAA SCITECH 2022 Forum (AIAA 2022) p. 1118.","DOI":"10.2514\/6.2022-1118"},{"key":"e_1_3_2_20_2","doi-asserted-by":"crossref","unstructured":"F. Roybal J. Banik T. Murphey \u201cDevelopment of an elastically deployable boom for tensioned planar structures\u201d in 48th AIAA\/ASME\/ASCE\/AHS\/ASC Structures Structural Dynamics and Materials Conference (AIAA 2007) p. 1838.","DOI":"10.2514\/6.2007-1838"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijsolstr.2020.09.005"},{"key":"e_1_3_2_22_2","doi-asserted-by":"crossref","unstructured":"J. M. Fernandez C. E. Volle \u201cCorrugated rollable tubular booms\u201d in AIAA Scitech 2021 Forum (AIAA 2021) p. 0296.","DOI":"10.2514\/6.2021-0296"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.asr.2024.02.027"},{"key":"e_1_3_2_24_2","first-page":"175","article-title":"Deployable structures","volume":"39","author":"Pellegrino S.","year":"1998","unstructured":"S. Pellegrino, Deployable structures. J. Int. Assoc. Shell Spat. Struct. 39, 175\u2013188 (1998).","journal-title":"J. Int. Assoc. Shell Spat. Struct."},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.4050813"},{"key":"e_1_3_2_26_2","doi-asserted-by":"crossref","unstructured":"C. Leclerc L. L. Wilson M. A. Bessa S. Pellegrino \u201cCharacterization of ultra-thin composite triangular rollable and collapsible booms\u201d in 4th AIAA Spacecraft Structures Conference (AIAA 2017) p. 0172.","DOI":"10.2514\/6.2017-0172"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1177\/1687814017707909"},{"key":"e_1_3_2_28_2","unstructured":"J. M. Fernandez US Patent 9 863 148 (2018)."},{"key":"e_1_3_2_29_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijsolstr.2016.08.013"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijmecsci.2024.109780"},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aab2870"},{"key":"e_1_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau5171"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abe0201"},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1252610"},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-021-03407-4"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-024-46667-0"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.2885509"},{"key":"e_1_3_2_38_2","doi-asserted-by":"crossref","unstructured":"M. Sakovsky I. Maqueda Jimenez C. Karl S. Pellegrino J. Costantine \u201cDual-matrix composite wideband antenna structures for cubesats\u201d in 2nd AIAA Spacecraft Structures Conference (AIAA 2015) p. 0944.","DOI":"10.2514\/6.2015-0944"},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1088\/0960-1317\/21\/11\/115021"},{"key":"e_1_3_2_40_2","doi-asserted-by":"crossref","unstructured":"J. R. Cannon C. P. Lusk L. L. Howell \u201cCompliant rolling-contact element mechanisms\u201d in International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (2005) vol. 47446 pp. 3\u201313.","DOI":"10.1115\/DETC2005-84073"},{"key":"e_1_3_2_41_2","unstructured":"M. Hillebrandt M. E. Zander C. Huehne Sliding core deployment mechanism for solar sails based on tubular shell masts paper presented at 5th International Symposium on Solar Sailing Aachen Germany 30 July to 2 August 2019."},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2021.p0141"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1080\/03601217408907255"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jcsr.2012.07.026"},{"key":"e_1_3_2_45_2","unstructured":"R. Bruins \u201cLateral torsional buckling of laterally restrained steel beams \u201d thesis Eindhoven University of Technology Eindhoven Netherlands (2007)."},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijmecsci.2011.08.006"},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.tws.2024.112676"},{"key":"e_1_3_2_48_2","unstructured":"T. Ludvigsen Hangprinter v4 manual (2024); https:\/\/hangprinter.org\/doc\/v4\/."},{"key":"e_1_3_2_49_2","unstructured":"T. Ludvigsen Hangprinter Gitlab (2024); https:\/\/gitlab.com\/tobben\/hangprinter\/."},{"key":"e_1_3_2_50_2","doi-asserted-by":"crossref","unstructured":"M. H. Ang W. Wei L. Teck-Seng \u201cOn the estimation of the large deflection of a cantilever beam\u201d in Proceedings of IECON\u201993-19th Annual Conference of IEEE Industrial Electronics (IEEE 1993) pp. 1604\u20131609.","DOI":"10.1109\/IECON.1993.339311"},{"key":"e_1_3_2_51_2","unstructured":"J. Song Code for deployable 3D printing mobile robotic system Zenodo (2024); https:\/\/zenodo.org\/records\/14166163."}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.adv4696","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,11,26]],"date-time":"2025-11-26T18:58:44Z","timestamp":1764183524000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.adv4696"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11,26]]},"references-count":50,"journal-issue":{"issue":"108","published-print":{"date-parts":[[2025,11,26]]}},"alternative-id":["10.1126\/scirobotics.adv4696"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.adv4696","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,11,26]]},"assertion":[{"value":"2024-12-19","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-10-28","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-11-26","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"eadv4696"}}