The field of soft robotics is rapidly evolving, and there is a growing interest in developing soft robots with bioinspired features for use in various applications. This research presented the design and development of 3D-printed origami actuators for a soft robot with amphibious locomotion and tongue hunting capabilities. Two different types of programmable origami actuators were designed and manufactured, namely Z-shaped and twist tower actuators. In addition, two actuator variations were developed based on the Z-shaped actuator, including the pelvic fin and the coiling/uncoiling types. The Z-shaped actuators were used for the rear legs to facilitate the locomotion of the water-like frogs. Meanwhile, the twisted tower actuators were used for the rotation joints in the forelegs and for locomotion on land. The pelvic fin actuator was developed to imitate the land locomotion of the mudskipper, and the coiling/uncoiling actuator was designed for tongue hunting motion. The origami actuators and soft robot prototype were tested through a series of experiments, which showed that the robot was capable of efficiently moving in water and on land and performing tongue hunting motions. Our results demonstrate the effectiveness of these actuators in producing the desired motions and provide insights into the potential of applying 3D-printed origami actuators in the development of soft robots with bioinspired features.

中文翻译：

---

3D 打印折纸执行器，用于具有两栖运动和舌头狩猎功能的多动物软机器人。


软机器人领域正在迅速发展，人们对开发具有仿生功能的软机器人以用于各种应用的兴趣越来越大。这项研究介绍了用于具有两栖运动和舌头狩猎功能的软机器人的 3D 打印折纸执行器的设计和开发。设计并制造了两种不同类型的可编程折纸致动器，即Z形致动器和扭塔致动器。此外，基于Z形致动器开发了两种致动器变体，包括腹鳍和卷绕/展开类型。 Z形致动器用于后腿，以方便水蛙的运动。同时，扭曲的塔致动器用于前腿的旋转关节和陆地上的运动。腹鳍执行器是为了模仿弹涂鱼的陆地运动而开发的，卷绕/展开执行器是为舌头狩猎运动而设计的。通过一系列实验对折纸执行器和软体机器人原型进行了测试，结果表明该机器人能够在水中和陆地上高效移动并执行舌头狩猎动作。我们的结果证明了这些执行器在产生所需运动方面的有效性，并深入了解了应用 3D 打印折纸执行器开发具有仿生功能的软机器人的潜力。