Soft robotic origami crawler

Ze, Qiji; Wu, Shu-Pao; Nishikawa, Jun; Dai, Jize; Sun, Yue; Leanza, Sophie; Zemelka, Cole; Novelino, Larissa S.; Paulino, Gláucio H.; Zhao, Ruike Renee

doi:10.1126/sciadv.abm7834

Cited by 219 publications

(109 citation statements)

References 52 publications

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“…This is due to the fact that a chosen manufacturing technique might not be accurate enough to yield distinct input thresholds (i.e., internal pressures in our case) and to give rise to the distinct stable states. To conclude, given the recent advancement in origami fabrication across scales, [ 25,35,67,68 ] we envisage that our concept hereby presented could be employed in future applications where space is limited and simplified controls are required, such as space exploration, surgical devices, and rescue missions.…”

Section: Discussionmentioning

confidence: 99%

Inflatable Origami: Multimodal Deformation via Multistability

Melancon

Forte

Kamp

et al. 2022

Adv Funct Materials

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Inflatable structures have become essential components in the design of soft robots and deployable systems as they enable dramatic shape change from a single pressure inlet. This simplicity, however, often brings a strict limitation: unimodal deformation upon inflation. Here, multistability is embraced to design modular, inflatable structures that can switch between distinct deformation modes as a response to a single input signal. This system comprises bistable origami modules in which pressure is used to trigger a snap-through transition between a state of deformation characterized by simple deployment to a state characterized by bending deformation. By assembling different modules and tuning their geometry to cause snapping at different pressure thresholds, structures capable of complex deformations that can be preprogrammed and activated using only one pressure source are created. This approach puts forward multistability as a paradigm to eliminate a one-to-one relation between input signal and deformation mode in inflatable systems.

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Section: Discussionmentioning

confidence: 99%

Inflatable Origami: Multimodal Deformation via Multistability

Melancon

Forte

Kamp

et al. 2022

Adv Funct Materials

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“…Translation from a horizontal plane to a steep slope (over 45°) is challenging for soft crawling robots with a single motion pattern (extension/contraction) (42,43), which is more prominent in the previous earthworm-inspired crawling robots (44)(45)(46). Here, our crawling robot with its multiple motion patterns can surmount the challenge.…”

Section: Earthworm-inspired Crawling Robot Possessing Great Terrain A...mentioning

confidence: 99%

Earthworm-inspired MASH (Multi-material, Adaptive Strain-limiting, Hybrid) Actuators for Soft Robots

Xiong

Ang

Jin

et al. 2022

Preprint

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This research presents a new class of versatile multi-material hybrid actuators, powered by pneumatics and electrostatic adhesion (EA) based adaptive strain-limiting layers. Soft pneumatic actuators with strain-limiting layers as the mainstream actuation for soft robotics have been developed for decades. However, due to their permanent strain-limiting layers, those actuators possess fewer motion patterns. Inspired by the longitudinal muscles of the earthworm, we present a concept of an adaptive strain-limiting layer with the ability to vary its length, stiffness and position. By integrating two flexible EA brakes into a soft pneumatic actuator as adaptive strain-limiting layers, the actuator can achieve multiple motion patterns including extension, contraction and bilateral bending, with permutations amongst these motions. The EA-based strain-limiting layer can increase the original actuator length by up to 86%, and the baseline actuator stiffness by up to 605%. To demonstrate its potential in locomotion and manipulation, we developed an earthworm-inspired crawling robot possessing great terrain adaptability and a versatile soft robotic gripper based on this hybrid actuator concept.

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“…Rotation-based locomotion, including rolling 17 , 18 , flipping 19 , 20 , and spinning 21 , 22 , is widely used by robotic systems to generate fast on-ground or in-water translational motion due to their high speed and efficiency. Compared to other locomotion mechanisms such as crawling, wriggling, and walking that are commonly found in small-scale flexible robotic systems 23 – 26 , the rolling of highly symmetric structures 27 , 28 like spheres and geodesic polyhedrons provides effective and fast on-ground locomotion (Fig. 1a ).…”

Section: Introductionmentioning

confidence: 99%

Spinning-enabled wireless amphibious origami millirobot

Dai

et al. 2022

Nat Commun

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124

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Wireless millimeter-scale origami robots have recently been explored with great potential for biomedical applications. Existing millimeter-scale origami devices usually require separate geometrical components for locomotion and functions. Additionally, none of them can achieve both on-ground and in-water locomotion. Here we report a magnetically actuated amphibious origami millirobot that integrates capabilities of spinning-enabled multimodal locomotion, delivery of liquid medicine, and cargo transportation with wireless operation. This millirobot takes full advantage of the geometrical features and folding/unfolding capability of Kresling origami, a triangulated hollow cylinder, to fulfill multifunction: its geometrical features are exploited for generating omnidirectional locomotion in various working environments through rolling, flipping, and spinning-induced propulsion; the folding/unfolding is utilized as a pumping mechanism for controlled delivery of liquid medicine; furthermore, the spinning motion provides a sucking mechanism for targeted solid cargo transportation. We anticipate the amphibious origami millirobots can potentially serve as minimally invasive devices for biomedical diagnoses and treatments.

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Soft robotic origami crawler

Cited by 219 publications

References 52 publications

Inflatable Origami: Multimodal Deformation via Multistability

Inflatable Origami: Multimodal Deformation via Multistability

Earthworm-inspired MASH (Multi-material, Adaptive Strain-limiting, Hybrid) Actuators for Soft Robots

Spinning-enabled wireless amphibious origami millirobot

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