An untethered self-folding locomotive paper robot using pneumatic actuators

This paper proposes an untethered self-folding locomotive paper robot. Its self-folding locomotion is similar to the opening and folding of the Chinese hand-held fan. We achieve this fan-like self-folding motion by the special design of paper cases and utilization of a novel 3D sticky pneumatic actuator. The actuator is a bladder with adhesive backs. Its inflation and contraction are controlled by two miniature pumps respectively. The opening and folding motions of the robot are synchronized with the inflation and contraction of the actuator. The electronics are clock-based controlled by an Arduino board. Instead of relying on the friction force, the robot utilizes the moment produced by the gravitational force to achieve locomotion. Thus, the robot is able to operate on surfaces where the friction coefficients are small. The average speed of its locomotion is 0.825cm/s. The robot features low cost, accessibility and instant-fabrication. The materials and equipment used for fabrications are paper cardboards, plastic membrane, tapes, tubes, scissors, miniature pumps, batteries, relays, solenoid valves, and Arduino boards which are all widely used in and easily obtained from daily life.