Robots Evolved From Non-Euclidean Composite Origami

Abstract

This study introduces soft joints to non-Euclidean (non-E) origami structures, leveraging the deformation capabilities of soft silicone membranes while maintaining structural rigidity. This integration extends the motion space, showcasing bistable characteristics and adjustable stiffness. A comprehensive mechanical model based on energy minimization is established. Investigating spatial motion characteristics of non-E origami with soft joints provides insights into energy variations during multi-path motion. A bistable robot module is designed, integrating soft pneumatic and shape memory alloy (SMA) actuators, respectively. The robotic module demonstrates versatile locomotion: jumping (5.9 times height, max takeoff velocity more than 2 m/s), crawling (max instantaneous speed 37.9 mm/s, 0.39 BL/s), and swimming (max speed 4.3 BL/s). This research advances soft joint integration in origami, enabling highly adaptable robotic modules with efficient locomotion.