A Novel Method to Develop an Origami based Crawler Robot

The present study shows a novel design of origami-based crawler robot which mimics the locomotion of earthworm. This design utilizes the concept of origami for developing the actuation mechanism and providing motion constraints with the help of origami tower and origami bellow respectively. The crawler has a tower of pentagonal structure and bellow of square shape. The actuation system converts the rotational motion of the servomotor into the linear motion of crawler robots. In the experimentation, it is having the maximum locomotion of 8.0 cm in a single cycle and its maximum velocity is 2 cm per sec. The results obtained in the experiments are quite satisfactory.