An Electro-pneumatic Shape Morphing Rolling Robot with Variable Locomotion Modes

Mobile robots with accurate and fast rolling loco-motion capabilities would greatly enhance their adaptability in dynamic environments. Inspired by organisms capable of rolling locomotion, this paper presents a lightweight shape morphable rolling robot which integrates an origami skeleton with muscle-like pneumatic pouches as drivers and electroadhesion (EA) pads as anchors. The origami skeleton o...