{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,17]],"date-time":"2026-04-17T14:33:12Z","timestamp":1776436392851,"version":"3.51.2"},"reference-count":26,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2021,11,1]],"date-time":"2021-11-01T00:00:00Z","timestamp":1635724800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004853","name":"Chinese University of Hong Kong","doi-asserted-by":"publisher","award":["4055139"],"award-info":[{"award-number":["4055139"]}],"id":[{"id":"10.13039\/501100004853","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Nowadays, origami folding in combination with actuation mechanisms can offer deployable structure design, yield compliance, and have several properties of soft material. An easy complex folding pattern can yield an array of functionalities in actuated hinges or active spring elements. This paper presents various cylinder origami robot designs that can be untethered magnetically actuated. The different designs are analyzed and compared to achieve the following three types of motion: Peristaltic, rolling, and turning in different environments, namely, board, sandpaper, and sand. The proposed origami robot is able translate 53 mm in peristaltic motion within 20 s and is able to roll one complete cycle in 1 s and can turn \u2248180\u2218 in 1.5 s. The robot also demonstrated a peristaltic locomotion at a speed of \u22482.5 mm s\u22121, \u22481.9 mm s\u22121, and \u22481.3 mm s\u22121 in board, sandpaper, and sand respectively; rolling motion at a speed of 1 cycle s\u22121, \u22480.66 cycles s\u22121, and \u22480.33 cycles s\u22121 in board, sandpaper, and sand respectively; and turning motion of \u2248180\u2218, \u224883\u2218, and \u224858\u2218 in board, sandpaper, and sand respectively. The evaluation of the robotic motion and actuation is discussed in detail in this paper.<\/jats:p>","DOI":"10.3390\/robotics10040118","type":"journal-article","created":{"date-parts":[[2021,11,2]],"date-time":"2021-11-02T22:14:52Z","timestamp":1635891292000},"page":"118","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Untethered Origami Worm Robot with Diverse Multi-Leg Attachments and Responsive Motions under Magnetic Actuation"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3218-7135","authenticated-orcid":false,"given":"Manivannan","family":"Sivaperuman Kalairaj","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore"}]},{"given":"Catherine Jiayi","family":"Cai","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore"},{"name":"Singapore Institute of Manufacturing Technology, A*STAR Singapore, Fusionopolis Two, 4 Fusionopolis Way, Singapore 138635, Singapore"}]},{"given":"Pavitra","family":"S","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6488-1551","authenticated-orcid":false,"given":"Hongliang","family":"Ren","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, National University of Singapore, Singapore 117575, Singapore"},{"name":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China"},{"name":"Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Hong Kong, China"}]}],"member":"1968","published-online":{"date-parts":[[2021,11,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"064501","DOI":"10.1115\/1.4041200","article-title":"Single-motor controlled tendon-driven peristaltic soft origami robot","volume":"10","author":"Banerjee","year":"2018","journal-title":"J. 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