Miura-ori and Yoshimura patterns — rigid panel kinematics
30°
5
45°
35°
Rigid origami: flat panels connected by fold lines that move without bending. Miura-ori (Miura 1970): parallelogram grid with alternating mountain/valley folds — one degree of freedom, deployable from flat to fully folded by a single push/pull. Yoshimura pattern: cylinder buckling mode. Fold angle θ controls the z-projection; fully flat θ=0, fully folded θ=90°.