A worm-inspired robot based on origami structures driven by the magnetic field.

With the rapid development of origami technology, worm-inspired origami robots have attracted tremendous interest owing to their colourful locomotion behaviours, such as creeping, rolling, climbing and obstacle crossing. In the present study, we aim to engineer a worm-inspired robot based on knitting process with paper, which could realize complicated functions associated large deformation and exquisite locomotion patterns. At first we fabricate the backbone of the robot by using the paper-knitting technique. The experiment shows that the backbone of the robot can endure significant deformation during the tension, compression and bending process, and this feature ensures it can achieve the desired targets of motion. Next, the magnetic forces and torques under the actuation of permanent magnets are analysed, which are just the driving forces of the robot. We then consider three formats of motion on the robot, i.e. the inchworm motion, the Omega motion, and the hybrid motion. Typical examples for the robot fulfil desired tasks are given, including sweeping obstacles, climbing the wall and delivering cargoes. Detailed theoretical analyses and numerical simulations are performed to illustrate these experimental phenomena. The results show that the developed origami robot is equipped with such characteristics as lightweight and great flexibility, which is sufficiently robust in various environments. These promising performances shed new light on design and fabrication of bio-inspired robots with good intelligence.