Bioinspired Origami Morphing Limbs for Amphibious Robot Locomotion

Amphibious robots must reconcile two distinct mechanical requirements within a compact locomotion architecture. Terrestrial operation requires limb structures with sufficient load-bearing capacity, contact stability, and bending resistance, whereas aquatic operation benefits from a larger projected area for drag-based thrust generation. Conventional amphibious platforms often address these requirements by combining separate land and water propulsion modules, which increases structural redundancy, system mass, and hydrodynamic resistance. To reduce this conflict at the structural level, this study proposes a bioinspired origami morphing limb based on a modified Yoshimura pattern. The limb transforms between a closed cylindrical configuration for terrestrial support and an unfolded planar configuration for aquatic paddling. A vertex-splitting topology and thick-panel geometric constraints are introduced to suppress the bifurcation instability associated with the zero-thickness Yoshimura vertex, thereby obtaining a deterministic single-degree-of-freedom folding path suitable for robotic actuation. A screw-theory-based kinematic model is established to relate the active driving angle to the passive folding angle, and geometric parameter analysis is used to connect the folding state with load-bearing and paddling morphologies. A quadruped amphibious robot prototype is fabricated using rigid polylactic acid panels and flexible thermoplastic polyurethane hinges. Prototype-level observations qualitatively demonstrate reversible transformation within the tested operating range and show walking, crawling, rolling, water-entry, and underwater locomotion modes.