  This study proposes and examines a novel approach to generate
peristaltic-like locomotion in a segmented origami robot. Specifically, we
demonstrate the use of multi-stability embedded in origami skeleton to
eliminate the need for multiple actuators or digital controllers to coordinate
the complex robotic movements in peristaltic crawling. The crawling robot in
this study consists of two serially connected bistable origami segments, each
featuring a generalized Kresling design and a foldable anchoring mechanism.
Mechanics analysis and experimental testing of this dual-segment module reveal
a deterministic deformation sequence or actuation cycle, which is then used to
generate the different phases in a peristaltic-like locomotion gait. Instead of
individually controlling the segment deformation like in earthworm and other
crawling robots, we only control the total length of this robot. Therefore,
this approach can significantly reduce the total number of actuators needed for
locomotion and simplify the control requirements. Moreover, the richness in
Kresling origami design offers us substantial freedom to tailor the locomotion
performance. Results of this study will contribute to a paradigm shift in how
we can use the mechanics of multi-stability for robotic actuation and control.
