Self-Folding Modular Chain Robot for Shape-Changing Objects.

We present a programmable self-folding modular robotic chain capable of transforming input 3D geometries into reconfigurable objects. Our system integrates three components: geometric discretization of target volumes, a path-finding and folding algorithm, and the design of modular robotic chain hardware. To validate the approach, we constructed a 12-module robotic chain and demonstrated folding sequences that approximate everyday objects such as a table, stool, and steps. Preliminary results show that the system can transition between 2D and 3D configurations, achieving stable forms under limited load-bearing conditions.