A Worm‐Inspired Origami Robot with Multimodal Locomotion for Adaptive Mobility in Complex Pipeline Environments

ABSTRACT An origami worm‐inspired robot is developed to achieve multimodal locomotion and multifunctional operation within confined and complex pipeline environments. The robot integrates eight Yoshimura‐origami crawling modules driven by pneumatic muscles, two rolling modules with deployable flaps, and a shape‐memory alloy (SMA)‐actuated waterbomb gripper, forming a compact and modular mechatronic system. A unified gait‐generation framework enables 25 distinct locomotion gaits, including earthworm‐like peristaltic crawling (rectilinear, sidewinding, and circular), inchworm‐like two‐anchor crawling, and bidirectional wheel‐rolling. Kinematic modeling predicts performance across modes and exhibits qualitative agreement with experiments, with deviations attributed to stick–slip and frictional effects. The robot demonstrates robust mobility in a complex industrial pipeline scenario involving inclined, curved, variable‐diameter, and discontinuous pipes, as well as vertical detection and large‐diameter traversal. Coordinated actuation between the pneumatic and SMA systems allows effective grasping and swallowing‐like manipulation of objects with varied stiffness. The integrated design achieves high maneuverability, environmental adaptability, and functional versatility, providing a promising platform for inspection, detection, and maintenance tasks in constrained engineering environments.