Orimo: Leg-Wheel Transformable Origami Modular Robots

This paper presents a novel robot called Orimo that combines the advantages of transformable wheels and modular robots. In addition to enhancing its own mobility, the robot can collaborate with modules to accomplish more complex tasks. The design of the robot utilizes origami mechanisms and printed circuit boards, offering characteristics of low cost and rapid manufacturing, meeting the requirements of extensive usage and quick replacement. The design of the robot in this paper demonstrates good single-module mobility. Through the transformation mechanism, it is able to climb an obstacle whose height is up to 1.6 times its wheel radius, effectively passing through complex terrain. Furthermore, the robot can use module collaboration for assembly, catering to a variety of work requirements and providing a variety of problem-solving strategies.