ArticleProceedings of the National Academy of Sciences of the United States of America2024
Modular multi-degree-of-freedom soft origami robots with reprogrammable electrothermal actuation.
Article in Proceedings of the National Academy of Sciences of the United States of America, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 13 papers.
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Who cites it
13 citing papers in PubMed.
- Soft Skins With Reversible Thickness Morphing: Materials, Mechanisms, and Applications.Advanced materials (Deerfield Beach, Fla.) · 2026Review
- Adaptable weaving origami.Science advances · 2026Article
- "Biodegradable caterpillar inspired soft robotic systems for targeted therapeutic delivery with intelligentRSC advances · 2026Review
- Evolutionary diversification via modular compliance for self-reconfigurable continuum robots.Science advances · 2026Article
- Hierarchical laser-programmed soft actuators for designing bionic robots with freeform morphing shapes.Science advances · 2026Article
- Armadillo-inspired active morphing skeletons for soft machines.Science advances · 2026Article
- Article
- LCE-integrated soft skin for millimeter-scale steerable soft everting robots.Science advances · 2025Article
- Thermally Actuated Soft Robotics.Advanced materials (Deerfield Beach, Fla.) · 2025Review
- Origami frustration and its influence on energy landscapes of origami assemblies.Proceedings of the National Academy of Sciences of the United States of America · 2025Article
- Multi-Physically Programmable Tubular Origami Metamaterials: Exploitable Nexus of Geometry, Folding Mechanics and Stimuli-Responsive Physics.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2025Review
- An agile multimodal microrobot with architected passively morphing wheels.Science advances · 2024Article
- Encapsulated stretchable amphibious strain sensors.Materials horizons · 2024Article
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
Soft robots often draw inspiration from nature to navigate different environments. Although the inching motion and crawling motion of caterpillars have been widely studied in the design of soft robots, the steering motion with local bending control remains challenging. To address this challenge, we explore modular origami units which constitute building blocks for mimicking the segmented caterpillar body. Based on this concept, we report a modular soft Kresling origami crawling robot enabled by electrothermal actuation. A compact and lightweight Kresling structure is designed, fabricated, and characterized with integrated thermal bimorph actuators consisting of liquid crystal elastomer and polyimide layers. With the modular design and reprogrammable actuation, a multiunit caterpillar-inspired soft robot composed of both active units and passive units is developed for bidirectional locomotion and steering locomotion with precise curvature control. We demonstrate the modular design of the Kresling origami robot with an active robotic module picking up cargo and assembling with another robotic module to achieve a steering function. The concept of modular soft robots can provide insight into future soft robots that can grow, repair, and enhance functionality.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.