This study proposes and examines a novel approach to generate peristaltic-like locomotion in a segmented origami robot. Specifically, we demonstrate the use of multi-stability embedded in origami skeleton to eliminate the need for multiple actuators or digital controllers to coordinate the complex robotic movements in peristaltic crawling. The crawling robot in this study consists of two serially connected bistable origami segments, each featuring a generalized Kresling design and a foldable anchoring mechanism. Mechanics analysis and experimental testing of this dual-segment module reveal a deterministic deformation sequence or actuation cycle, which is then used to generate the different phases in a peristaltic-like locomotion gait. Instead of individually controlling the segment deformation like in earthworm and other crawling robots, we only control the total length of this robot. Therefore, this approach can significantly reduce the total number of actuators needed for locomotion and simplify the control requirements. Moreover, the richness in Kresling origami design offers us substantial freedom to tailor the locomotion performance. Results of this study will contribute to a paradigm shift in how we can use the mechanics of multi-stability for robotic actuation and control.
Stanford University（斯坦福大学）；The Ohio State University（俄亥俄州立大学）；Stanford Cardiovascular Institute（斯坦福心血管研究所）；Stanford University School of Medicine（斯坦福大学医学院）
Fin ray-inspired, Origami, Small Scale Actuator for Fin Manipulation in Aquatic Bioinspired Robots
The University of Manchester（曼彻斯特大学）；Centre for Robotics and Artificial Intelligence, The University of Manchester（曼彻斯特大学机器人与人工智能中心）；Photon Science Institute, The University of Manchester（曼彻斯特大学光子科学研究所）；National Graphene Institute, The University of Manchester（曼彻斯特大学国家石墨烯研究所）
Cycle-resolved Cephalopod-Inspired Pulsed-Jet Robot With High-Volume Expulsion and Drag-Reduced Gliding
Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore（机械工程系，设计与工程学院，新加坡国立大学）；Advanced Robotics Centre, National University of Singapore（先进机器人中心，新加坡国立大学）；Singapore-MIT Alliance for Research and Technology Centre（新加坡-麻省理工联合研究技术中心）
