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Design and Analysis of an Origami Robot With Tensegrity Characteristics.

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Title: Design and Analysis of an Origami Robot With Tensegrity Characteristics.
Authors: Ni, Peng1 (AUTHOR), Sun, Jianwei2 (AUTHOR) sunjw@ccut.edu.cn, Li, Quan2 (AUTHOR), Chen, Keyi2 (AUTHOR), Wei, Guowu (AUTHOR) a.tigrini@staff.univpm.it
Source: Applied Bionics & Biomechanics. 1/11/2026, Vol. 2025, p1-12. 12p.
Subjects: Origami, Tensegrity (Engineering), Flexibility (Mechanics), Rescue work, Engineering, Impact strength
Abstract: In recent years, small ground robots have demonstrated significant potential in the exploration of complex environments and in rescue operations. However, the rigid structure of conventional robots affects the adaptability and popularity of robots. The research team was inspired by features such as the miniaturization and transport costs of origami mechanisms. Simultaneously considering the high flexibility and self-stability characteristics of a tensegrity structure, a strategy is proposed to integrate the tensegrity structure and the origami mechanism. Based on this integration strategy, this article firstly designs the body structure of an origami robot based on X-type two-bar three-cable. Then the four-bar drive mechanism and variable friction mechanism were designed. Finally, the construction of the origami robot is completed. The experiment results show that the crawling height range of the origami robot is 7.5-10.5 cm, and the adaptive height is 29% of the robot's height. The vertical jump height of the origami robot is 8.0 cm, which is 76% of the robot's height. The integration structure proposed in this article has stable structural characteristics. The origami robot with tensegrity characteristics has good mobility, load-bearing capacity, environmental adaptability, and impact resistance. [ABSTRACT FROM AUTHOR]
Copyright of Applied Bionics & Biomechanics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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PubType: Academic Journal
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  Data: Design and Analysis of an Origami Robot With Tensegrity Characteristics.
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  Data: <searchLink fieldCode="AR" term="%22Ni%2C+Peng%22">Ni, Peng</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Sun%2C+Jianwei%22">Sun, Jianwei</searchLink><relatesTo>2</relatesTo> (AUTHOR)<i> sunjw@ccut.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Li%2C+Quan%22">Li, Quan</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Chen%2C+Keyi%22">Chen, Keyi</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Wei%2C+Guowu%22">Wei, Guowu</searchLink> (AUTHOR)<i> a.tigrini@staff.univpm.it</i>
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  Data: <searchLink fieldCode="JN" term="%22Applied+Bionics+%26+Biomechanics%22">Applied Bionics & Biomechanics</searchLink>. 1/11/2026, Vol. 2025, p1-12. 12p.
– Name: Subject
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  Data: <searchLink fieldCode="DE" term="%22Origami%22">Origami</searchLink><br /><searchLink fieldCode="DE" term="%22Tensegrity+%28Engineering%29%22">Tensegrity (Engineering)</searchLink><br /><searchLink fieldCode="DE" term="%22Flexibility+%28Mechanics%29%22">Flexibility (Mechanics)</searchLink><br /><searchLink fieldCode="DE" term="%22Rescue+work%22">Rescue work</searchLink><br /><searchLink fieldCode="DE" term="%22Engineering%22">Engineering</searchLink><br /><searchLink fieldCode="DE" term="%22Impact+strength%22">Impact strength</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: In recent years, small ground robots have demonstrated significant potential in the exploration of complex environments and in rescue operations. However, the rigid structure of conventional robots affects the adaptability and popularity of robots. The research team was inspired by features such as the miniaturization and transport costs of origami mechanisms. Simultaneously considering the high flexibility and self-stability characteristics of a tensegrity structure, a strategy is proposed to integrate the tensegrity structure and the origami mechanism. Based on this integration strategy, this article firstly designs the body structure of an origami robot based on X-type two-bar three-cable. Then the four-bar drive mechanism and variable friction mechanism were designed. Finally, the construction of the origami robot is completed. The experiment results show that the crawling height range of the origami robot is 7.5-10.5 cm, and the adaptive height is 29% of the robot's height. The vertical jump height of the origami robot is 8.0 cm, which is 76% of the robot's height. The integration structure proposed in this article has stable structural characteristics. The origami robot with tensegrity characteristics has good mobility, load-bearing capacity, environmental adaptability, and impact resistance. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Applied Bionics & Biomechanics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1155/abb/8572844
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        Text: English
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        Type: general
      – SubjectFull: Tensegrity (Engineering)
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      – SubjectFull: Flexibility (Mechanics)
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      – SubjectFull: Rescue work
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      – SubjectFull: Engineering
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      – SubjectFull: Impact strength
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            NameFull: Ni, Peng
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              M: 01
              Text: 1/11/2026
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              Y: 2026
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