This paper presents a novel design methodology for automatically constructing soft robots with modular, LEGO‐like origami actuators. By assembling these modular soft actuators, intricate robotic systems can be created. The key innovation of the work lies in the incorporation of thickness accommodation into kinematics models and the optimization‐based assembly strategy standardizing the design process. This approach has been validated through two LEGO‐like origami actuators, which are then assembled guided by the assembly strategy. A robot arm built by these actuators showcased a remarkable position accuracy, deviating by only 3 mm at the tip over a 400 mm span. Furthermore, two soft robots are successfully designed, built, and tested for manipulation and tight space inspection, and a bipedal walking robot, confirming the feasibility of the design algorithm for functional robotic systems. This work offers a comprehensive design framework that standardizes the assembly of LEGO‐like origami actuators into accurate and functional robotic systems.
License type:
Attribution 4.0 International (CC BY 4.0)
Funding Info:
This research / project is supported by the A*STAR - Manufacturing, Trade, and Connectivity (MTC) Industry Alignment Fund - Pre-Positioning
Grant Reference no. : M23L4a0001
This research / project is supported by the Ministry of Education - Academic Research Fund Tier 1
Grant Reference no. : Award ME-22-5439 and 23= 0988-P0001
Description:
This is the peer reviewed version of the following article: Wang, Z., Wang, Y., & Zhang, H. (2025). LEGO‐like Origami Robots Standardize Structure Design of Soft Robots. Advanced Science, 13(5). Portico. https://doi.org/10.1002/advs.202513881
, which has been published in final form at https://doi.org/10.1002/advs.202513881. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions. This article may not be enhanced, enriched or otherwise transformed into a derivative work, without express permission from Wiley or by statutory rights under applicable legislation. Copyright notices must not be removed, obscured or modified. The article must be linked to Wiley’s version of record on Wiley Online Library and any embedding, framing or otherwise making available the article or pages thereof by third parties from platforms, services and websites other than Wiley Online Library must be prohibited.