Multimodal crawling robot with kirigami skin. (IMAGE)
Caption
(A) Robot’s body featuring anterior and posterior segments and 2 proximity sensors mounted on its head. (B) Demonstration of different deformation modalities and schematic of inflated chambers. (C) The inner structure of the robot’s body showing the assembly of the foldable kirigami skin and the antagonistic fiber-reinforced inflatable actuator. (D) Geometry of the skin unit cell with black fold lines and red cut lines, and snapshots of the multistable foldable kirigami skin in folded and partially unfolded configurations. (E) External components of the robot, including 3D-printed connectors between the anterior and posterior segments, the kirigami skin, the tail, and the sensorized head housing 2 lateral proximity sensors.
Credit
Jonathan Tirado, University of Southern Denmark.
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