Soft robotic origami crawler

• DOI: 10.1126/sciadv.abm7834
• Publication Date: 2022-03-30T17:57:25Z
• Authors: Qiji Ze; Shuai Wu; Jun Nishikawa; Jize Dai; Yue Sun; Sophie Leanza; Cole Zemelka; Larissa S. Novelino; Glaucio H. Paulino; Ruike Renee Zhao
• Keywords: Web crawler; Crawling; Biomimetics

Biomimetic soft robotic crawlers have attracted extensive attention in various engineering fields, owing to their adaptivity different terrains. Earthworm-like realize locomotion through in-plane contraction, while inchworm-like exhibit out-of-plane bending-based motions. Although contraction demonstrate effective motion confined spaces, miniaturization is challenging because of limited actuation methods and complex structures. Here, we report a magnetically actuated small-scale origami crawler with contraction. The mechanism achieved four-unit Kresling assembly consisting two dipoles two-level symmetry. Magnetic used provide appropriate torque distribution, enabling untethered robot both crawling steering capabilities. can overcome large resistances from severely spaces by its anisotropic tunable structural stiffness. multifunctionality the explored using internal cavity for drug storage release. magnetic potentially serve as minimally invasive device biomedical applications.