Origami can enable structures that are compact and lightweight. The facets of an origami structure in traditional designs, however, are essentially nondeformable rigid plates. Therefore, implementing energy storage and robust self-locking in these structures can be challenging. We note that the intricately folded wings of a ladybird beetle can be deployed rapidly and effectively sustain aerodynamic forces during flight; these abilities originate from the geometry and deformation of a specialized vein in the wing of this insect. We report compliant origami inspired by the wing vein in ladybird beetles. The deformation and geometry of the compliant facet enables both large energy storage and self-locking in a single origami joint. On the basis of our compliant origami, we developed a deployable glider module for a multimodal robot. The glider module is compactly foldable, is rapidly deployable, and can effectively sustain aerodynamic forces. We also apply our compliant origami to enhance the energy storage capacity of the jumping mechanism in a jumping robot.

折纸可实现紧凑轻巧的结构。然而，传统设计中的折纸结构的刻面基本上是不可变形的刚性板。因此，在这些结构中实现储能和强大的自锁性可能是具有挑战性的。我们注意到，瓢虫的复杂折叠的机翼可以迅速展开，并在飞行过程中有效地承受空气动力。这些能力源于这种昆虫翅膀中特殊静脉的几何形状和变形。我们报告了瓢虫甲虫的翼脉启发的折纸。顺应性小平面的变形和几何形状既可以存储大量能量，又可以在单个折纸关节中自锁。基于我们的折纸，我们为多模式机器人开发了可部署的滑翔机模块。滑翔机模块可紧凑折叠，可快速展开，并可以有效地承受空气动力。我们还使用符合要求的折纸来增强跳跃机器人中跳跃机构的能量存储能力。