Scientists have created a soft robot that crawls like an earthworm and has skin that’s inspired by origami. Designed for tight and tricky spaces, this robot could one day help in rescue missions, environmental research, and even space exploration.
Researchers from the University of Southern Denmark have developed a groundbreaking soft robot that can crawl across flat and rough surfaces by mimicking how earthworms move.
Unlike traditional robots with wheels or legs, this new design moves without limbs, using rhythmic inflation and deflation of soft “muscles” and a specially designed “kirigami” skin to grip the ground.
The “muscles” are called actuators. They are inflatable and can expand and contract like those of a worm. These actuators are covered with a thin, foldable skin made from plastic and fabric. Inspired by kirigami, the Japanese art of cutting and folding paper, the skin helps create directional friction, which means the robot can move forward easily while resisting sliding backwards.
The robot inflates its body in a wave-like pattern to move, producing what scientists call “peristaltic motion.” This is the same technique used by worms and some other limbless animals. The robot can also turn left and right, allowing it to steer around obstacles. Steering is achieved by adjusting which chambers of the robot are inflated at any given time.
The robot uses proximity sensors mounted in its head to detect nearby objects and can operate semi-autonomously using a joystick-based control system. In tests, it successfully navigated a challenging terrain filled with large pores and obstacles, reaching its destination in just under 20 minutes without getting stuck.
“Our robot combines a unique kirigami skin with advanced soft actuators to allow it to crawl in a way that’s efficient, controllable, and adaptable to different terrains,” said Dr. Ahmad Rafsanjani, the lead researcher of the project.
“This could be incredibly useful in search-and-rescue operations, environmental monitoring, and even exploring tight or dangerous areas where traditional robots cannot go.”
This robot’s unique structure also makes it flexible and durable. Its foldable skin can stretch over 50% without tearing, thanks to the use of high-performance materials. The team tested several versions of the skin and found that adding a fabric layer improved performance by reducing the force needed to stretch it.
Practical use
One of the robot’s most promising applications is in search and rescue missions, especially in disaster zones. In the aftermath of earthquakes or building collapses, people are sometimes trapped beneath rubble where rescue workers or dogs cannot safely reach. The soft robot’s ability to squeeze through narrow gaps and maneuver around debris could help locate and monitor survivors. Equipped with sensors, it could send back real-time data, including video or proximity alerts, without risking further collapse of unstable structures.
The robot could also play a key role in environmental monitoring. Many ecosystems, such as dense forests, wetlands, or underground tunnels, are difficult to explore with rigid machines. The robot’s ability to move gently makes it suitable for inspecting sensitive areas without disturbing plants, animals, or fragile terrain. It could be used to study pollution levels in soil, measure humidity and temperature, or collect samples for laboratory testing.
Another promising use is in hazardous environments. Locations contaminated by toxic chemicals, radiation, or intense heat are too dangerous for humans. A more advanced version of this robot could explore these environments, monitor conditions, and guide cleanup efforts remotely. Its soft body would also allow it to handle bumps and irregular surfaces without damage.
Looking even further ahead, the soft crawling robot could be adapted for space exploration. Its ability to crawl through unpredictable terrain, such as caves, rocky landscapes, or underground tunnels, makes it a potential tool for missions to the Moon, Mars, or other space bodies.
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