An Untethered Miniature Origami Robot that Self-folds, Walks, Swims, and Degrades

Daniela Rus et. al

Abstract- A miniature robotic device that can fold-up on
the spot, accomplish tasks, and disappear by degradation into
the environment promises a range of medical applications
but has so far been a challenge in engineering. This work
presents a sheet that can self-fold into a functional 3D robot,
actuate immediately for untethered walking and swimming, and
subsequently dissolve in liquid. The developed sheet weighs
0.31 g, spans 1.7 cm square in size, features a cubic neodymium
magnet, and can be thermally activated to self-fold. Since the
robot has asymmetric body balance along the sagittal axis,
the robot can walk at a speed of 3.8 body-length/s being
remotely controlled by an alternating external magnetic field.
We further show that the robot is capable of conducting basic
tasks and behaviors, including swimming, delivering/carrying
blocks, climbing a slope, and digging. The developed models
include an acetone-degradable version, which allows the entire
robot’s body to vanish in a liquid. We thus experimentally
demonstrate the complete life cycle of our robot: self-folding,
actuation, and degrading.

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