This paper presents a flat-foldable "pop-up catcher" origami that is passively actuated for object capture. Although its initial profile is less than 25 mm thick, it can capture objects over 500 mm away by employing our pop-up gripper a flat-foldable origami manipulator. Transition path planning on a potential energy field enables multi-state deployment and passive actuation.

Sung-Jin Lee, JaeHyung Jang, Jee-Hwan Ryu, and Dae-Young Lee, "Pop-Up Catcher: A Flat-Foldable Gripper Using Multistate Passive Actuation," Soft Robotics, vol. 13, no. 2, pp. 163–177, Apr. 2026. [DOI: 10.1177/21695172261426628]