Bio-Inspired Soft Pipeline Robot with Origami-Based Adaptive Guidance

Inspired by inchworm locomotion, this study pre-sents a bionic soft pipeline robot utilizing negative-pressure-driven origami modules. Leveraging the high shrinkage rate of a 3 mm PET sheet (up to 70%) and the rigid-flexible co-deformation de-sign of a TPU film, alongside a negative-pressure-driven flexible control mechanism, the robot establishes a nonlinear air-deformation mathematical model. This model reveals the quantitative relationship between the deformation behavior of origami modules and the negative pressure parameters. This design achieves a coupling of structural passive adaptability and active drive regu-lation. Within vertical, horizontal, and inclined pipelines with diameters ranging from 86 to 96 mm, the robot autonomously exe-cutes efficient linear motion, diameter adaptation, and curved path navigation via model-driven control strategies. The inte-grated design of topologically reconfigurable origami modules and simplified control logic offers a systematic approach to addressing challenges in motion stability and environmental adaptability within complex pipeline environments.