This work presents a system by which users can easily create printable origami-inspired robots from high-level structural specifications. Starting from a library of basic mechanical, electrical, and software building blocks, users can hierarchically assemble integrated electromechanical components and programmed mechanisms. The system compiles those designs to cogenerate complete fabricable outputs: mechanical drawings suitable for direct manufacture, wiring instructions for electronic devices, and firmware and user interface (UI) software to control the final robot autonomously or from human input. This process allows everyday users to create on-demand custom printable robots for personal use, without the requisite engineering background, design tools, and cycle time typical of the process today. This paper describes the system and its use, demonstrating its abilities and versatility through the design of several disparate robots.

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