Animals have long captured the inspirations of researchers in robotics with their unrivaled capabilities of multimodal locomotion on land and in water, achieved by functionally versatile limbs. Conventional soft robots show infinite degrees-of-freedom (DOFs), making it hard to be actuated and conduct multiple movements especially for multimodal locomotion in different environments. An origami robot, which is capable of reversibly transforming the robotic shape by simple creases folding/unfolding, reveals advantages for imitating flexible movements of animals, thus drawing more and more attention. However, it poses substantial technological challenges for bioinspired design, sensing, and actuation of origami robots that can generate multimodal locomotion through performing complex morphologic deformation in different scenarios such as land and water. To relieve this issue, we propose a novel bioinspired amphibious origami machine with body sensing for multimodal locomotion. In this work, inspired by the peristalsis of inchworm and human swimming behaviors, a unique origami body with legs and origami arms is developed to enable the integrated robot to move both on land and in water. Instead of traditional electronic sensors, we design highly stretchable and foldable layer resistive sensor with conductive polymers coated onto the origami body to achieve robotic sensing such as obstacle detection. In addition, with detailed analysis, a self-designed pneumatic system of time division, multiplexing, and serialization is adopted to efficiently control the robot with high DOF. We eventually demonstrate that the fabricated origami robot successfully moves in amphibious environments, which is capable of crawling forward, turning right/left, and swimming. We expect that this work indicates contributions to advanced origami design, actuation control, and body sensor of the bioinspired robot with multimodal locomotion for broadly practical applications.

中文翻译：

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具有身体感应的仿生两栖折纸机器人，用于多模式运动

长期以来，动物凭借功能多样的肢体在陆地和水中无与伦比的多模态运动能力吸引了机器人研究人员的灵感。传统的软机器人显示出无限的自由度 (DOF)，使其难以被驱动和进行多种运动，特别是对于不同环境中的多模态运动。折纸机器人能够通过简单的折痕折叠/展开可逆地改变机器人形状，显示出模仿动物灵活运动的优势，因此受到越来越多的关注。然而，它对仿生设计、传感、折纸机器人的驱动，可以通过在陆地和水等不同场景中执行复杂的形态变形来产生多模态运动。为了解决这个问题，我们提出了一种新型的仿生两栖折纸机，具有用于多模式运动的身体感应。在这项工作中，受尺蠖蠕动和人类游泳行为的启发，开发了一种独特的带有腿和折纸手臂的折纸体，使集成机器人能够在陆地和水中移动。我们设计了高度可拉伸和可折叠的层电阻传感器，而不是传统的电子传感器，将导电聚合物涂在折纸体上，以实现障碍物检测等机器人传感。此外，经过详细分析，自主设计的时分复用气动系统，并采用序列化来有效控制高自由度机器人。我们最终展示了制造的折纸机器人成功地在两栖环境中移动，它能够向前爬行、向右/向左转弯和游泳。我们希望这项工作能够为具有多模态运动的仿生机器人的高级折纸设计、驱动控制和身体传感器做出贡献，以实现广泛的实际应用。