Soft Robots for Cluttered Environments Based on Origami Anisotropic Stiffness Structure (OASS) Inspired by Desert Iguana

Rigidity and softness are essential for robot motion and manipulation in various complex scenarios. To integrate these two contrary features, several variable-stiffness structures are investigated while requiring a longer processing time and more energy for switching from a stiffer to softer status, with only one status at a specific point in time. Inspired by the combined softness-rigidity hybrid property of desert iguanas' skin, the concept of an anisotropic stiffness structure is developed, which simultaneously possesses rigidity and softness properties in different directions, leading to the development of novel soft robots. This anisotropic stiffness structure comprises a silicone-paper composite with multiple superimposed origami patterns and has high stiffness and softness properties. The anisotropic stiffness structure is then constructed by developing three novel soft robots: a crawling robot capable of extending and contracting with a payload of 117 times its own weight, a multifunctional prosthetic hand capable of grasping fragile items with its soft side and lifting and crushing items with its hard side, and a snake robot capable of traveling with the soft side and extruding out with over 75% of its body length with the stiffer side.