Bistable origami robot for adaptive multimodal motion actuated by nonuniform magnetic fields

Conventional magnetically controlled mini-robots require operation within highly uniform and high-precision magnetic fields, which are impractical for large space applications. In this work, the bistable origami robot offloads these requirements onto the pre-programmed geometry of its mechanical architecture. These structures exhibit distinct deformation modes at each stable state when subjected to small-amplitude magnetic perturbations. Moreover, transitions between stable states—triggered by large-amplitude impulsive magnetic inputs—enable impulsive motions such as grasping. Correspondingly, a large-workspace magnetic actuation system is developed to generate low-uniform magnetic fields, and it is capable of controlling the bistable origami structure for desired multimodal locomotion and manipulation. We demonstrate capabilities including self-grasping, object capture, and adaptive locomotion modes such as crawling, turning, tumbling, scampering, jumping, and rolling at two different stable configurations. Our findings offer an approach for designing multi-functional and wireless mini/microrobots in large spaces, which is validated through analytical modeling, numerical simulation, and experimental testing.