Soft Crawling Robot With a Dual-Morphing Origami Configuration

Soft crawling robots demonstrated high compliance and effectiveness in performing complex tasks in unstructured and harsh environments. They can navigate inside constrained spaces and provide superior adaptability. This paper presents a soft crawling robot with a modified Yoshimura origami-based central chamber (elongation/contraction actuator) and four electrostatic adhesion feet (anchoring elements). It was designed to perform linear and steering locomotion under specific actuation sequences to avoid obstacles autonomously; it features a height-adjustable ability to squeeze under low gaps. A dual-morphing mechanism, enabling the origami-based chamber to operate with two locomotion modalities, was investigated to provide a simple but effective actuation method. Tests were carried out to validate the dual-morphing mechanism and to characterise the crawling robot’s performance. Experimental tests successfully demonstrated the robot’s capabilities, e.g., locomotion under low gaps (i.e., 20 mm, 66% of the height of the robot), obstacle avoidance, climbing on a sloped surface (i.e., 15 deg), and lifting and carrying objects (i.e., 80 g, ten times its weight).