A Worm-Inspired Origami Robot with Multimodal Locomotion for Adaptive Mobility in Complex Pipeline Environments.

Area of Science:

• Robotics
• Mechatronics
• Origami Engineering

Background:

• Confined and complex pipeline environments pose significant challenges for inspection and maintenance.
• Existing robotic solutions often lack the necessary dexterity and adaptability for such scenarios.

Purpose of the Study:

• To develop an origami worm-inspired robot capable of multimodal locomotion and multifunctional operation in constrained pipeline environments.
• To create a compact, modular mechatronic system integrating crawling, rolling, and grasping capabilities.

Main Methods:

• Integration of eight Yoshimura-origami crawling modules powered by pneumatic muscles.
• Inclusion of two rolling modules with deployable flaps and a shape-memory alloy (SMA)-actuated waterbomb gripper.
• Development of a unified gait-generation framework for 25 distinct locomotion gaits.

Main Results:

• Demonstrated robust mobility in diverse pipeline configurations (inclined, curved, variable-diameter, discontinuous).
• Achieved effective object manipulation with varied stiffness using the SMA gripper.
• Validated kinematic models with experimental data, noting deviations due to friction.

Conclusions:

• The origami worm robot exhibits high maneuverability, environmental adaptability, and functional versatility.
• It presents a promising platform for inspection, detection, and maintenance in constrained engineering settings.
• The integrated mechatronic design advances robotic capabilities in challenging industrial environments.