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Self-assembled structures and machines can be made using origami-inspired manufacturing methods. In particular, self-folding of two-dimensional materials using shape memory polymers and embedded electrical circuits has been utilized to build robots and structures in an inexpensive and rapid manner. In order to build increasingly complex and functional self-folding machines, however, methods for interaction with the environment are necessary. This paper presents and characterizes three types ofdoi:10.1109/icra.2014.6907503 dblp:conf/icra/ShinFTW14 fatcat:2cbwvbe55jgltlhcmsdsyz4ppu