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<p>Origami-inspired structures have drawn increasing attention in robotics due to their lightweight, reconfigurable, and shape-adaptive properties. Among them, the waterbomb origami structure enables excellent volumetric transformation, offering potential in deployable and biomimetic applications. This study presents a simplified kinematic model of a revolved structure composed of symmetric waterbomb units (SWBUs), applied to a jellyfish-inspired robot to emulate rhythmic contraction-expansion motion. The model is developed by analyzing the motion between adjacent units in a single column and extended to the full body via rotational mapping, revealing functional coupling of internal DOFs for targeted deformations. A two-stage simulation verifies the model’s accuracy under theoretical and practical constraints. Results show the model effectively describes SWBU-based origami structures, providing a unified framework for soft robotic applications.</p>

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A simplified kinematic modeling method for revolved origami structures with internal DOF coupling: Application to jellyfish-inspired soft robots

  • 期刊论文

  • 发表日期：

    2026年5月11日

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  • Junli Li,
  • Shouzhong Li,
  • Linfeng Li,
  • Maorong Wang,
  • Yuansen Yue

摘要

Origami-inspired structures have drawn increasing attention in robotics due to their lightweight, reconfigurable, and shape-adaptive properties. Among them, the waterbomb origami structure enables excellent volumetric transformation, offering potential in deployable and biomimetic applications. This study presents a simplified kinematic model of a revolved structure composed of symmetric waterbomb units (SWBUs), applied to a jellyfish-inspired robot to emulate rhythmic contraction-expansion motion. The model is developed by analyzing the motion between adjacent units in a single column and extended to the full body via rotational mapping, revealing functional coupling of internal DOFs for targeted deformations. A two-stage simulation verifies the model’s accuracy under theoretical and practical constraints. Results show the model effectively describes SWBU-based origami structures, providing a unified framework for soft robotic applications.