Origami crawlers: exploring a single origami vertex for complex path navigation

TL;DR

This paper demonstrates how a simple origami vertex can be engineered to create a versatile crawler capable of navigating complex paths with minimal actuation, combining experimental and modeling approaches.

Contribution

It introduces a novel origami-based crawler design that uses a single input to switch between straight and turning motions by modifying the vertex geometry.

Findings

Modified origami vertices enable controlled straight and turning movements.

Nonlinear folding behaviors allow mode switching with a single actuation.

The design achieves complex path navigation with minimal actuation.

Abstract

The ancient art of origami, traditionally used to transform simple sheets into intricate objects, also holds potential for diverse engineering applications, such as shape morphing and robotics. In this study, we demonstrate that one of the most basic origami structures (i.e., a rigid, foldable degree-four vertex) can be engineered to create a crawler capable of navigating complex paths using only a single input. Through a combination of experimental studies and modeling, we show that modifying the geometry of a degree four vertex enables sheets to move either in a straight line or turn. Furthermore, we illustrate how leveraging the nonlinearities in folding allows the design of crawlers that can switch between moving straight and turning. Remarkably, these crawling modes can be controlled by adjusting the range of the actuation folding angle. Our study opens avenues for simple machines that can follow intricate trajectories with minimal actuation.