Omega motion, rolling, and active standing of a worm-inspired robot under the action of the magnetic field

摘要

With the rapid development of origami technologies, worm-inspired robots have attracted a great deal of attention due to their flexible locomotion characteristics. In the present work, we have prepared a soft robot inspired by the worms, which can achieve various locomotion patterns under the actuation of magnetic field. First, the origami technique is used to form the backbone of the robot, and two NdFeB discs are adhered on its two ends. Next, the experiments for controlling the Omega motion and rolling of the robot are performed, and the mechanical analyses are given. In the experiments, the Omega locomotion speed and rolling speed can reach ∼5 mm/s and 2π rad/s, respectively. Then, two typical examples on the composite motion, including the Omega motion and rolling, are demonstrated, where the robot can realize the tasks of sweeping objects and obstacle crossing in unstructured environments. We further design a system to mimic the situation when the worm-like robot detects and responds to the dangerous signal, and the power of the electromagnet can be accurately controlled. These findings cast a new light on engineering intelligent robots and devices originating from the inspirations of living creatures.