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The robot integrates eight Yoshimura\u2010origami crawling modules driven by pneumatic muscles, two rolling modules with deployable flaps, and a shape\u2010memory alloy (SMA)\u2010actuated waterbomb gripper, forming a compact and modular mechatronic system. A unified gait\u2010generation framework enables 25 distinct locomotion gaits, including earthworm\u2010like peristaltic crawling (rectilinear, sidewinding, and circular), inchworm\u2010like two\u2010anchor crawling, and bidirectional wheel\u2010rolling. Kinematic modeling predicts performance across modes and exhibits qualitative agreement with experiments, with deviations attributed to stick\u2013slip and frictional effects. The robot demonstrates robust mobility in a complex industrial pipeline scenario involving inclined, curved, variable\u2010diameter, and discontinuous pipes, as well as vertical detection and large\u2010diameter traversal. Coordinated actuation between the pneumatic and SMA systems allows effective grasping and swallowing\u2010like 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.<\/jats:p>","DOI":"10.1002\/advs.75500","type":"journal-article","created":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T12:03:17Z","timestamp":1777550597000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Worm\u2010Inspired Origami Robot with Multimodal Locomotion for Adaptive Mobility in Complex Pipeline Environments"],"prefix":"10.1002","author":[{"given":"Qiwei","family":"Zhang","sequence":"first","affiliation":[{"name":"Yiwu Research Institute Fudan University  Yiwu Zhejiang China"},{"name":"College of Intelligent Robotics and Advanced Manufacturing State Key Laboratory of Brain Function and Disorders MOE Engineering Research Center of AI &amp; Robotics Fudan University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kangning","family":"Tan","sequence":"additional","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing State Key Laboratory of Brain Function and Disorders MOE Engineering Research Center of AI &amp; Robotics Fudan University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zihan","family":"He","sequence":"additional","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing State Key Laboratory of Brain Function and Disorders MOE Engineering Research Center of AI &amp; Robotics Fudan University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hongsen","family":"Pang","sequence":"additional","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing State Key Laboratory of Brain Function and Disorders MOE Engineering Research Center of AI &amp; Robotics Fudan University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0475-3769","authenticated-orcid":false,"given":"Yanjie","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University  Changzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6691-0531","authenticated-orcid":false,"given":"Hongbin","family":"Fang","sequence":"additional","affiliation":[{"name":"Yiwu Research Institute Fudan University  Yiwu Zhejiang China"},{"name":"College of Intelligent Robotics and Advanced Manufacturing State Key Laboratory of Brain Function and Disorders MOE Engineering Research Center of AI &amp; Robotics Fudan University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jian","family":"Xu","sequence":"additional","affiliation":[{"name":"College of Intelligent Robotics and Advanced Manufacturing State Key Laboratory of Brain Function and Disorders MOE Engineering Research Center of AI &amp; Robotics Fudan University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,4,30]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"crossref","first-page":"325","DOI":"10.1007\/s11044-023-09943-3","article-title":"Spatial Locomotion of a Metameric Earthworm\u2010Like Robot: Generation and Analysis of Gaits","volume":"61","author":"Zhang Q.","year":"2024","journal-title":"Multibody System Dynamics"},{"key":"e_1_2_9_3_1","doi-asserted-by":"crossref","DOI":"10.1088\/1748-3190\/ab97fb","article-title":"In\u2010Plane Gait Planning for Earthworm\u2010Like Metameric Robots using Genetic Algorithm","volume":"15","author":"Zhan X.","year":"2020","journal-title":"Bioinspiration & Biomimetics"},{"key":"e_1_2_9_4_1","doi-asserted-by":"crossref","DOI":"10.1002\/advs.202370088","article-title":"A CPG\u2010Based Versatile Control Framework for Metameric Earthworm\u2010Like Robotic Locomotion (Adv. 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