OriWheelBot: An origami-wheeled robot

TL;DR

OriWheelBot is an origami-inspired robot with adjustable width and sand walking capabilities, demonstrating versatility in obstacle navigation, load carrying, and slope climbing, suitable for planetary and rescue applications.

Contribution

The paper introduces OriWheelBot with variable width origami wheels and an autonomous version, enabling advanced obstacle negotiation and sand mobility not seen in prior origami robots.

Findings

Can change width by 40%

Carries loads at 66.7% ratio on sand

Climbs 17-degree sand incline

Abstract

Origami-inspired robots with multiple advantages, such as being lightweight, requiring less assembly, and exhibiting exceptional deformability, have received substantial and sustained attention. However, the existing origami-inspired robots are usually of limited functionalities and developing feature-rich robots is very challenging. Here, we report an origami-wheeled robot (OriWheelBot) with variable width and outstanding sand walking versatility. The OriWheelBot's ability to adjust wheel width over obstacles is achieved by origami wheels made of Miura origami. An improved version, called iOriWheelBot, is also developed to automatically judge the width of the obstacles. Three actions, namely direct pass, variable width pass, and direct return, will be carried out depending on the width of the channel between the obstacles. We have identified two motion mechanisms, i.e., sand-digging and sand-pushing, with the latter being more conducive to walking on the sand. We have systematically examined numerous sand walking characteristics, including carrying loads, climbing a slope, walking on a slope, and navigating sand pits, small rocks, and sand traps. The OriWheelBot can change its width by 40%, has a loading-carrying ratio of 66.7% on flat sand and can climb a 17-degree sand incline. The OriWheelBot can be useful for planetary subsurface exploration and disaster area rescue.