Graded in-plane Miura origami as crawling robots and grippers

In this work, we propose a variation of Miura origami which, different from the existing out-of-plane bending Miura origami, has an in-plane bent configuration due to its graded crease pattern. By combining with the one-way shape memory alloy spring, we show that the proposed graded Miura origami can serve as a smart actuator and can be applied to drive crawling robots or grippers. First, we constructed a physical model of the graded Miura origami, from which a curvature-programmable geometric equation is proposed. Then, in addition to providing a mechanical model that can capture the mechanical behavior of the initial force–displacement relationship of the curved beam, we show that the proposed curved origami has a different mechanical behavior compared to the corresponding simple flexible arch, specifically if realized by silicon rubbers. By arranging anisotropic friction to the feet, the origami robot can crawl with an omega-elongation/compression motion like an inchworm. With a closed-loop current source control system using a high-frequency pulse width modulation-based topology, where the strain state of the arched origami is detected by a demodulator-free fiber Bragg grating sensor, the average speed of the origami crawling robot can reach 2.72 mm/s. In addition, by arranging three graded Miura origami, a gripper capable of lifting a weight of 518.5 g can be formed, where the carried load is over 4.5 times its own weight.