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Origami Polyhedra-Based Soft Multicellular Robots.

Fuwen Hu1, Chun Zhang1

  • 1Department of Mechatronics, School of Mechanical and Material Engineering, North China University of Technology, Beijing, China.

Soft Robotics
|October 23, 2023
PubMed
Summary
This summary is machine-generated.

This study introduces novel soft multicellular robots inspired by rhombic dodecahedron (RDD) origami. These robots demonstrate versatile locomotion and climbing abilities, paving the way for advanced robotics.

Keywords:
multimodal locomotionorigamisoft crawling robotsoft modular robotsoft pole-climbing robotsoft robot

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Area of Science:

  • Robotics
  • Origami Engineering
  • Materials Science

Background:

  • Multimodal robots are typically achieved through reconfigurable-modular or adaptive morphology methods.
  • Existing methods often mimic biological multicellular systems or multimodal animals.

Purpose of the Study:

  • To present a novel soft multicellular robot design inspired by the rhombic dodecahedron (RDD) origami model.
  • To achieve multimodal locomotion and enhanced climbing capabilities in soft robots.

Main Methods:

  • Assembling 3D-printed soft RDD cells into various configurations (in-line, cross, oblong, parallelogram).
  • Analyzing kinematics based on sequential monolithic deformations of RDD cells to enable locomotion.
  • Investigating the climbing mechanism of in-line configurations utilizing rhombic meshes for gripping.

Main Results:

  • Demonstrated multimodal locomotion including peristaltic crawling, two-anchor crawling, turning, and omnidirectional crawling.
  • Achieved excellent climbing abilities in in-line configurations without pattern reorganization.
  • Highlighted the role of RDD's monolithic deformability and reconfigurability in robot function.

Conclusions:

  • The RDD-inspired soft multicellular robot offers monolithic and hierarchical deformability, high reconfigurability, and 3D-printable manufacturability.
  • This novel robot design shows potential for advanced robotics applications like self-assembly and self-reconfigurable systems.
  • The embodied intelligence of these robots can contribute to goal-directed metamorphosis and task-oriented functionalities.