Self folding curved origami

In traditional origami facets are connected through rectilinear creases whose angle is actively set by the operator. In a self-folding scenario, setting the folding angle along a crease requires a load concentrated along a line. As a consequence, self-folding origami structures tend to be floppy and are limited to small scales. In contrast, the bending energy of the whole area of the facets can be harvested to fold efficiently a curved crease. Such bending is readily achieved through a classical bilayer effect, which open applications to self-folding origami structures.

This concept raises many fundamental questions involving mechanics and geometry. What are the ingredients that dictate the folding angles in an elementary unit? Can different units be assembled in a compatible way? Are tessellated structures achievable?