Pillbot: a soft origami robot inspired by pill bugs

In this paper, we present the design, fabrication processes, and control of a new biomimetic origami robot-Pillbot inspired by the pill bugs (Armadillidium vulgare). The pill bugs can travel effectively along pile of dead leaves, weeds, and most nature environment and the biological structures of the pill bugs fit the practical, soft and flexible design concept of the soft robotics. This biological case can be applied to soft robots to overcome the real harsh natural environment by three bionic designs: 1) flexible origami exoskeleton, 2) soft internal muscles, 3) bionic pereiopods. The origami exoskeleton is used to protect the body and reduce the friction between the robot surface and the environment. The soft internal muscles support the completion of the corresponding function with the exoskeleton and other structures of the robot. The bionic pereiopods ensure that the Pillbot can perform a variety of crawling movements. As a result, Pillbot can crawl, turn effective in the real environment, and the innovative designs for Pillbot will be applied to soft robots that are used in a harsh realistic environment.