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. 2022 Feb 22;23(2):407–430. doi: 10.1007/s11047-022-09880-8

Fig. 1.

Fig. 1

Turning Machine motivation: what shapes can be made by autonomously folding structures using simple local turning rules that effect non-local movement? Finding suitable abstract models and characterising their ability helps us to step back and create a vision of where we can go