Origami spring-inspired metamaterials and robots: An attempt at fully programmable robotics.

Recent advances in three-dimensional printing technologies provide one way not only to speed up freeform fabrication but also to exert programmable control over mechanical properties. Besides, origami-inspired structures, origami-inspired metamaterials, and even origami-inspired robotics primarily demonstrate the promising potential for innovative inspirations of engineering solutions. The motivation of this work is to explore a fully programmable robotic perspective with a fusion of programmable metamaterials, programmable mechanics, and programmable fabrication. First, we proposed an illustrative roadmap for transforming an origami model into a fully programmable robotic system. Then, we introduced an origami spring model and revealed its shape-shifting geometry and intrinsic metamaterial mechanisms, especially the rarely switchable behavior from transverse compression to longitudinal stretchability, and the curvilinear deployment. Furthermore, we addressed the fabrication challenges of three-dimensional printable origami sheets considering three-dimensional printability, foldability with high elasticity, and good damage tolerance. Finally, we developed a fully soft manipulator in terms of the highly reversible compressibility of origami spring metamaterials. And we also devised a peristaltic crawling robot with undulatory movements induced by inclination deployment effect of origami spring metamaterials. Conceivably, the proposed fully programmable robotic system was demonstrated starting from programmable metamaterials, programmable mechanics, and programmable fabrication to programmable robotic behaviors. The contribution of this work also suggested that robotic morphing could be tunable by hierarchical programming from modeling and fabrication to actions.