一个折纸顶点可实现复杂路径导航，仅用单一输入控制前进与转向。
Origami crawlers: exploring a single origami vertex for complex path navigation
- 利用四重折纸顶点的几何设计实现运动方向控制。
- 通过调节折叠角度范围，可切换直线前进与转弯模式。
- 适用于微型机器人等需低功耗复杂轨迹运动的场景。
折纸艺术传统上用于将简单薄片转化为复杂结构，也具备形状变形和机器人等工程应用潜力。本研究证明，最基础的刚性可折叠四重顶点结构可通过工程化设计，实现仅需单一输入即可完成复杂路径导航的爬行机器人。结合实验与建模，我们发现调整四重顶点几何形状可使薄片实现直线运动或转向；更重要的是，利用折叠过程中的非线性特性，可设计出可在直线运动与转向之间切换的爬行装置。关键在于通过调节驱动折叠角度范围来控制运动模式。该研究为仅需少量驱动即可实现复杂轨迹运动的简易机器提供新思路。
原文摘要 · Abstract (English)
The ancient art of origami, traditionally used to transform simple sheets into intricate objects, also holds potential for diverse engineering applications, such as shape morphing and robotics. In this study, we demonstrate that one of the most basic origami structures (i.e., a rigid, foldable degree-four vertex) can be engineered to create a crawler capable of navigating complex paths using only a single input. Through a combination of experimental studies and modeling, we show that modifying the geometry of a degree four vertex enables sheets to move either in a straight line or turn. Furthermore, we illustrate how leveraging the nonlinearities in folding allows the design of crawlers that can switch between moving straight and turning. Remarkably, these crawling modes can be controlled by adjusting the range of the actuation folding angle. Our study opens avenues for simple machines that can follow intricate trajectories with minimal actuation.
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