Abstract
In this paper, we study a method for designing flexible origami by solving the geometry and folding mode that satisfy infinitesimal rigid foldability constraints. We show design examples using an interactive design system based on the proposed method; the results include infinitesimally foldable (shaky) closed origami surfaces and quadrangle based origami, which are in generic cases static. Especially, a cylindrical shaky closed polyhedron has zero-stiffness property in an infinitesimal folding and traveling hingelines in a finite folding to a flat-folded state, which are potentially useful for energy absorption devices.
