A multimodal continuum robot constructed using three stable state characteristics of Kresling origami

Abstract Inspired by the Kresling origami structure and its three stable state characteristics, a novel multimodal continuum robot (MCR) has been proposed in this paper, which achieve its own movement through gas-driven and actively elastic deformed Kresling origami. Airbags are utilized to auxiliary drive in this paper, which makes the specific plane of origami unit transform from first stable state to third stable state. The high stiffness of third stable state endows the origami unit with better carrying capacity and more motion characteristics, and the driving force of the central chamber and selective expansion of airbags enable the multimodal motion of MCR. The theoretical model of MCR and three stable state characteristics of Kresling origami are established to predict and control the behavior of actuator. The experimental results of MCR prototype demonstrate the high carrying capacity of proposed origami unit, the feasibility and high accuracy of multimodal motion. The designing concept of this paper improves the ability of CRs to perform complex tasks and promotes the development of origami structures in the field of robotics.