Bioinspired dual-morphing stretchable origami

(commonly known as the pelican eel), which first unfolds and then inflates its mouth to maximize the probability of engulfing the prey. Here, we introduce pelican eel-inspired dual-morphing architectures that embody quasi-sequential behaviors of origami unfolding and skin stretching in response to fluid pressure. In the proposed system, fluid paths were enclosed and guided by a set of entirely stretchable origami units that imitate the morphing principle of the pelican eel's stretchable and foldable frames. This geometric and elastomeric design of fluid networks, in which fluid pressure acts in the direction that the whole body deploys first, resulted in a quasi-sequential dual-morphing response. To verify the effectiveness of our design rule, we built an artificial creature mimicking a pelican eel and reproduced biomimetic dual-morphing behavior. By compositing the basic dual-morphing unit cells into conventional origami frames, we demonstrated architectures of soft machines that exhibit deployment-combined adaptive gripping, crawling, and large range of underwater motion. This design principle may provide guidance for designing bioinspired, adaptive, and extreme shape-morphing systems.