Speeding up tracked mobile soft robots by multiple origami actuators

Existing mobile robots mostly adopt conventional actuation techniques, such as motors, hydraulics, and internal combustion engines. However, these actuation methods, owing to their components or media, are not ideal for specialized situations like radioactive environments, mining operations, and areas with strong electromagnetic interference. This paper proposes a tracked mobile soft robot driven by multiple vacuum-based Kresling origami actuators. The track mobile robot utilizes the inherent rotary motion of Kresling to propel its track movement. By implementing a continuous control strategy for track motion, developing different motion modes for the robot, and systematically investigating the effects of vacuum actuation time, negative pressure, and the number of actuators on locomotion speed, the robot achieved a forward speed of 2.82 cm/s and a turning speed of 0.11 rad/s. Finally, the robot with its optimal actuation configuration was tested in various complex terrain conditions, demonstrating exceptional terrain adaptability and traversal capabilities.