Multifunctional mobile soft robot

Multifunctional Mobile Soft Robot Combining Origami Variable-Stiffness Structures with Cable Tension Control

This technology is a multifunctional soft robot mechanism based on a variable-stiffness structure that applies origami and kirigami principles. It uses motors and cable tension to control the folding, unfolding, and rotation of the structure, enabling both locomotion and shape transformation through two mobile parts.

Existing soft robots have limitations, such as low stiffness, which makes them vulnerable to external forces, and monotonous deformation methods that restrict them to single-function tasks.

Based on the Miura-ori pattern, this technology features a variable structure composed of sub-bases and sub-heads. By adjusting cable tension via motors and pulleys embedded in the first and second mobile parts, the robot can precisely control its bending, contraction, and stiffness. This allows a single robot to perform various locomotion and transformation tasks. It offers new possibilities beyond the stiffness limitations of conventional soft robots and can be widely applied in environments requiring shape changes, such as navigating narrow spaces, entering disaster sites, and logistics automation.

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Key Features:

• A first mobile part including a first mobile body, a first mobile wheel connected to the lower side, a first motor for generating power, and a first pulley.
• A second mobile part including a second mobile body positioned apart from the first mobile body, a second mobile wheel, a second motor, and a second pulley.
• A plurality of folding bases disposed between and connecting the first and second mobile parts.
• The folding bases include a first sub-base and second and third sub-bases foldably connected to both corners of the first sub-base.

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This invention was developed with support from the Metamorphic Mechanical Systems Research Group of the Ministry of Science and ICT.