Paper folding structure bouncing robot and control method thereof

Abstract

The invention discloses a bouncing robot with a paper folding structure and a control method thereof, and relates to the technical field of soft robots, the bouncing robot comprises a mounting plate, two groups of paper folding feet with layer number difference, a control assembly and a driving tendon, the height difference formed by the layer number difference of the paper folding feet enables the mounting plate to incline forwards, and the driving tendon penetrates through the paper folding feet and is connected with the control assembly; the control assembly can regulate and control winding and releasing of the driving tendons to achieve compression and energy release of the origami feet, and steering of the robot can be completed through differential contraction of the driving tendons on the same side. Integrated precise control of bouncing and steering is achieved, meanwhile, the equipment is provided with an independent power supply and wireless remote control system, and an anti-skid pad is additionally arranged on the sole. The robot solves the problems that a traditional paper folding robot is insufficient in motion performance, inflexible in steering, poor in terrain adaptability and the like, rapid and continuous bouncing and precise steering can be achieved, the robot adapts to various unstructured terrains, and the robot can be widely applied to scenes such as search and rescue detection, environment monitoring and narrow space inspection through a wireless operation mode.

Description

Technical Field

[0001] This invention relates to the field of soft robot technology, and more specifically to a paper-folding bouncing robot and its control method. Background Technology

[0002] Origami robots, as a new type of intelligent equipment that integrates traditional origami art with modern robotics technology, have become a research hotspot and development direction in the field of robotics due to their unique advantages such as lightweight and compact structure, foldable storage, low material cost, high space utilization, and simple processing and assembly. Their flexible structural design adapts to the operational needs of unstructured environments, demonstrating broad application prospects in many fields such as search and rescue, environmental monitoring, confined space inspection, industrial precision operations, and post-disaster rubble exploration, providing a new technological path to solve the operational challenges of traditional robots in complex scenarios.

[0003] Currently, the development of robotics technology places higher demands on the terrain adaptability, movement flexibility, and operational reliability of equipment. Rapid movement, obstacle crossing, and posture adjustment in complex scenarios have become core indicators for evaluating robot performance. While traditional rigid robots possess the characteristics of high movement speed and high positioning accuracy, their rigid body structure makes it difficult to flexibly cope with the undulating changes in unstructured terrains such as sand, grass, and gravel. They have weak obstacle crossing ability, limited environmental adaptability, and their movement flexibility in confined spaces is significantly reduced. Although existing soft origami robots have solved the adaptability problem of rigid structures, they generally suffer from insufficient movement performance. Their movement is mainly based on slow crawling, small-amplitude undulation, or short-distance translation, making it difficult to achieve rapid continuous jumping and precise and flexible turning. Moreover, most origami robots lack the ability to actively adjust their posture in mid-air, and during jumping, they are easily affected by terrain and external forces, causing their movement trajectory to deviate and making it impossible to achieve precise landing control.

[0004] In real-world applications, whether it's the uneven ruins, soft sand, and overgrown grasslands encountered in wilderness search and rescue, the steps, low walls, and scattered obstacles common in urban environments, or the narrow gaps between equipment and the inspection passages for precision instruments in industrial fields, all pose serious challenges to the motion performance of origami robots. Existing quadrupedal, hexapodal, or crawling robots based on origami structures are prone to problems such as foot slippage, structural jamming, and motion sluggishness in complex terrains, resulting in a significant decrease in motion efficiency and operational stability. They are unable to efficiently complete core tasks such as rapid movement, obstacle crossing, and fixed-point exploration. At the same time, their single motion mode and rudimentary control methods lead to poor adaptability to different work scenarios, making it difficult to meet the diverse motion requirements of practical applications. This severely restricts the transformation of origami robots from laboratory research to engineering and industrial applications.

[0005] In addition, the existing drive and control systems of origami robots still have many shortcomings. Some origami robots that use pneumatic or hydraulic drives require external air pumps, hydraulic stations and other equipment, which cannot achieve wireless and mobile operation and limit the working range. On the other hand, origami robots that use motor drives often have problems such as low matching degree between drive components and origami structure and poor energy conversion efficiency, making it difficult to achieve efficient energy storage and rapid energy release of origami structure. Moreover, the control system is mostly a single synchronous control, which cannot achieve differentiated and precise control of each actuator, resulting in the robot lacking fine motion capabilities such as steering and posture adjustment.

[0006] Therefore, in view of the existing problems, how to provide a paper-structured bouncing robot that can adapt to various complex terrains, has the ability to bounce quickly and continuously, and has precise and flexible turning functions, thereby improving its operational reliability and scene adaptability, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] Therefore, the present invention provides a paper-structured bouncing robot that can adapt to various complex terrains, has the ability to bounce quickly and continuously, and has precise and flexible turning capabilities, thereby improving its operational reliability and scene adaptability.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A paper-structured bouncing robot, comprising: Mounting plate; Multiple origami feet are provided, and the multiple origami feet are divided into two groups. The top of each origami foot is fixed to the bottom wall of the mounting plate. The number of folds in one group of origami feet is less than the number of folds in the other group of origami feet, so that there is a height difference between the two groups of origami feet, thereby causing the mounting plate to tilt forward. The system comprises multiple control components and multiple drive tendons. Each control component is located between each group of origami feet and is mounted on the mounting plate. The first end of each drive tendon is fixed to the sole of each origami foot and extends upward through the mounting plate from the inside of the origami foot. The second end of each drive tendon is connected to the control end of the control component. The control component controls the winding and releasing of each group of drive tendons to compress or release the origami feet. By controlling the differentiated contraction of the drive tendons on the same side of the two groups of origami feet, the robot can turn during jumping.

[0010] Through the above technical solution, this invention provides a paper-folding jumping robot. The paper-folding feet are designed in two groups with a difference in the number of layers, creating a height difference that gives the robot a jumping tendency towards the tilting direction of the mounting plate, laying the structural foundation for achieving directional continuous jumping. At the same time, the driving tendons pass through the paper-folding feet and are connected to the corresponding control components, allowing independent control of the compression and release of each group of paper-folding feet, realizing the elastic energy storage and rapid energy release of the paper-folding feet, ensuring the output of jumping power. Furthermore, by controlling the differential stretching of the driving tendons on the same side of the two groups of paper-folding feet, the robot can form an angle deflection and complete the turning during the jump, solving the problem of insufficient turning flexibility of traditional paper-folding robots and realizing integrated motion control of jumping and turning.

[0011] Preferably, in the above-mentioned origami-structured bouncing robot, the height difference between the two sets of origami feet is 8%-15% of the robot's overall height. This ratio is the optimal height difference for the robot's bouncing design, ensuring sufficient forward movement while avoiding excessive height difference that could lead to imbalance of the robot's center of gravity and decreased bouncing stability, thus achieving a balance between bouncing power and motion stability.

[0012] Preferably, in the above-mentioned origami-structured bouncing robot, the driving tendon is an elastic rope. Utilizing the flexibility and elasticity of the elastic rope, it can cooperate with the control components to compress and release the origami feet, and also achieve elastic energy storage and rapid energy release during bouncing, improving the dynamics of the bounce. At the same time, the flexible structure reduces wear on the mechanical transmission, extending the equipment's service life, and can also adapt to minor collisions in complex terrain, enhancing terrain adaptability.

[0013] Preferably, in the above-mentioned origami-structured bouncing robot, the control component includes a rotary motor, a first rotating plate, a second rotating plate, a winding ring, and multiple fixing rods. The mounting end of the rotary motor is fixed to the mounting plate; the first rotating plate is fixed to the drive end of the rotary motor; the second rotating plate is arranged parallel to and spaced apart from the first rotating plate, and is fixedly connected to the first rotating plate through a central connector; the winding ring is located outside the central connector and is fixed to the first rotating plate; the second ends of the driving tendons are all fixed to the winding ring and can be wound along the winding ring; one end of each fixing rod is slidably sleeved and limited on the second rotating plate, and the other end corresponds to the driving tendon, so as to achieve synchronous contraction and differentiated contraction of the origami feet in the same group by independently controlling the fixing and loosening of each driving tendon by each fixing rod. The rotary motor of the control component drives the rotating plate and the winding ring to move, realizing the winding and releasing of the driving tendons, providing the power control basis for the compression and release of the origami feet; the fixed rod can independently control the fixing and releasing of each driving tendon, which can realize the synchronous contraction of the origami feet in the same group, ensuring the consistency of the overall bounce, and can also realize the differentiated contraction of the driving tendons in the same group, providing precise execution control for robot turning and improving the flexibility of motion control.

[0014] Preferably, the origami-structured bouncing robot described above also includes a linear motor. The mounting end of the linear motor is fixed to the outer wall of the winding ring, and the driving end of the linear motor is fixed to the other end of the positioning rod to control the movement of the positioning rod. Adding a linear motor to control the movement of the positioning rod enables precise adjustment of the driving tendon's positioning and limiting, thereby precisely controlling the compression degree of the origami foot. This allows for fine-tuning of the robot's bouncing amplitude and contraction force, further improving the accuracy and controllability of its turning and bouncing movements.

[0015] Preferably, the above-mentioned origami-structured bouncing robot further includes a control unit, which comprises a receiver and a control panel. Both the receiver and the control panel are fixed to the mounting plate. The receiver receives external remote control signals, and its signal output is electrically connected to the signal input of the control panel. The control panel is electrically connected to the drive ends of the drive motor and the linear motor, controlling their movement in the form of electrical signals. The receiver receives external remote control signals, and the control panel centrally controls the rotary motor and the linear motor, combining wireless remote control with local control of the robot, improving operational convenience. The coordinated movement control of each drive component is achieved in the form of electrical signals, ensuring the continuity and accuracy of bouncing, turning, and other movements, thus constructing an intelligent electronic control system for the robot and solving the problems of single control methods and poor coordination in traditional methods.

[0016] Preferably, the origami-structured bouncing robot described above also includes a battery, which is fixed to the mounting plate and electrically connected to the receiver and the control panel. Adding a battery to the mounting plate provides power to the receiver, control panel, and other electronic components, offering an independent power source. This enables wireless and mobile operation of the robot, eliminating the limitations of external power cables and significantly expanding its application range in complex scenarios such as field search and rescue and where external power is unavailable.

[0017] Preferably, the origami-structured bouncing robot described above also includes anti-slip pads. Multiple anti-slip pads are provided, each fixedly installed at the end of the origami foot furthest from the mounting plate. Adding anti-slip pads to the bottom of the origami foot increases the friction between the foot and the ground, preventing the robot from slipping during bouncing and turning. This ensures sufficient grip, especially on different terrains such as sand, grass, and hard, smooth surfaces, improving the robot's stability in various terrains and further enhancing its terrain adaptability.

[0018] A control method for a bouncing robot based on the above-mentioned origami structure, characterized in that it includes: S1. The control component controls the winding and releasing of the driving tendon to realize the compression energy storage or elastic release of the origami foot; S2. If a forward jump is required, the driving tendons corresponding to the front and rear origami feet are controlled to move synchronously. The height difference formed by the difference in the number of layers of the two sets of origami feet and the forward tilting tendency of the mounting plate are used to convert the elastic potential energy into forward jumping kinetic energy, so as to realize the robot's continuous forward jump. S3. If turning is required, adjust the tension of each of the driving tendons on the same side of the two sets of origami feet so that the corresponding origami feet form differential contractions, creating a displacement difference when landing. Using the origami foot with a larger degree of compression as the rotation axis, combined with the driving force of the origami foot on the other side pushing off the ground, the robot can turn left or right. S4. After completing a single jump or turn, the driving tendon returns to its initial state, the robot returns to the extended preparation state, and enters the next motion cycle.

[0019] Through the above technical solutions, this invention provides a control method for a paper-folding bouncing robot. For forward bouncing, a synchronous drive control method is designed, fully utilizing the forward tilting tendency caused by the height difference of the paper feet to efficiently convert elastic potential energy into forward bouncing kinetic energy, achieving continuous forward bouncing. For turning, a differentiated contraction control method is designed, forming a rotation axis through the landing displacement difference and combining it with the push-off driving force to achieve turning, providing a clear and executable control method for robot turning and solving the problem of the lack of standardized control strategies for turning in traditional paper-folding robots. A motion cycle reset mechanism is designed, driving the tendons to return to their initial state after completing the action, ensuring that the robot can enter a continuous motion cycle and improving the continuity of operation.

[0020] Preferably, in the above-mentioned origami-structured bouncing robot, in step S3, the difference in target compression of the two sets of origami feet on the same side is calculated to create a height difference, which generates a distance difference upon landing to achieve steering. By calculating the difference in target compression of the two sets of origami feet on the same side to create a height difference, the distance difference upon landing can be precisely controlled, enabling quantitative control of the steering angle and amplitude, improving the accuracy and predictability of the robot's steering, allowing the robot to adapt to the steering requirements of different scenarios, and further enhancing the fine-grained control capability of steering.

[0021] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a paper-folding structure bouncing robot, which has the following beneficial effects: 1. The present invention significantly improves the motion performance. By creating a forward tilting trend through the difference in the number of origami layers, combined with the energy storage and release design of the driving tendons, the robot can achieve rapid and continuous directional jumping, breaking through the limitations of existing origami robots that move slowly and can only crawl. At the same time, it achieves precise steering through differential contraction of the same-side driving tendons, solving the problem of insufficient steering flexibility in traditional products.

[0022] 2. The terrain adaptability of this invention is significantly enhanced. The driving tendon adopts the flexible structure of elastic rope to adapt to the slight collisions of complex terrain. The anti-slip pad on the sole of the foot ensures grip on multiple terrains and avoids slipping and jamming problems. It can adapt to various unstructured terrains such as sand, grass, ruins, and steps, and improve the stability of operation in complex scenarios.

[0023] 3. The driving and control system of this invention is superior. It adopts a design that combines motor drive with elastic tendons to achieve efficient energy storage and rapid energy release in the origami structure, resulting in higher energy conversion efficiency. The control components can achieve synchronous and differentiated precise control, and the wireless remote control makes actions such as bouncing and turning more coherent and controllable, solving the problems of low drive matching degree and single control method in traditional products.

[0024] 4. The invention enhances the practicality and scalability of its applications. By using a built-in battery, it enables wireless and mobile operation, eliminating the limitations of external air pumps, power cords, and other equipment. The overall structural design integrates jumping and turning movements, enabling it to perform core tasks such as rapid movement, obstacle crossing, and fixed-point exploration. This effectively solves the bottleneck in the transformation of existing origami robots from laboratory research to engineering and industrial applications, and can be widely applied in many fields such as search and rescue, environmental monitoring, and inspection of confined spaces. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0026] Figure 1 The attached figure is a structural schematic diagram of a paper-folding bouncing robot provided by the present invention; Figure 2 The attached figure is a schematic diagram of the structure of the control component provided by the present invention; Figure 3 The attached figure is a structural schematic diagram of a paper-folding bouncing robot provided by the present invention; Figure 4 The attached image is attached. Figure 3 A detailed magnified view of structure A in the middle; Figure 5 The attached figure is a schematic diagram of a paper-folding bouncing robot according to the present invention turning to the left; Figure 6 The attached figure is a schematic diagram of a paper-folding bouncing robot turning to the right, provided by the present invention. Figure 7 The attached figure is a schematic diagram of the jump distance of four postures during the jumping process of a paper-folding bouncing robot provided by the present invention; Figure 8 The attached figure shows four different postures of a paper-folding bouncing robot during a jump, as provided by this invention.

[0027] in: 1-Mounting plate; 2-Folding foot; 3-Drive tendon; 4-Rotating motor; 5-First rotating plate; 6-Second rotating plate; 7-Winding ring; 8-Fixing rod; 9-Linear motor; 10-Receiver; 11-Control panel; 12-Battery; 13-Anti-slip mat. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Example 1: See appendix Figure 1-4 The present invention discloses a paper-folding bouncing robot, comprising: a mounting plate 1, multiple paper-folding feet 2, multiple control components and multiple drive tendons 3; Multiple origami feet 2 are divided into two groups, and the top of each origami foot 2 is fixed to the bottom wall of the mounting plate 1; the number of folds in one group of origami feet 2 is less than the number of folds in the other group of origami feet 2, so that there is a height difference between the two groups of origami feet 2, thus causing the mounting plate 1 to tilt forward. Each control component is located between each set of origami feet 2 and is mounted on the mounting plate 1. The first end of each driving tendon 3 is fixed to the bottom of each origami foot 2 and extends upward through the mounting plate 1 from the inside of the origami foot 2. The second end of the driving tendon 3 is connected to the control end of the control component. The control component controls the winding and releasing of each set of driving tendons 3 to achieve the compression or release of the origami foot 2. By controlling the differentiated contraction of each driving tendon 3 on the same side of the two sets of origami feet 2, the robot can turn during the jumping process.

[0030] Specifically, multiple origami feet 2 are achieved using the Kresling origami structure.

[0031] In some specific examples, the height difference between the two sets of origami feet 2 is 8%-15% of the overall height of the robot.

[0032] In some other embodiments, the driving tendon 3 is an elastic rope.

[0033] In a specific embodiment, the control component includes a rotary motor 4, a first rotating plate 5, a second rotating plate 6, a winding ring 7, and multiple fixing rods 8. The mounting end of the rotary motor 4 is fixed on the mounting plate 1; the first rotating plate 5 is fixed on the driving end of the rotary motor 4; the second rotating plate 6 is arranged parallel to the first rotating plate 5 at intervals and is fixedly connected to the first rotating plate 5 through a central connector; the winding ring 7 is located outside the central connector and is fixed on the first rotating plate; the second ends of the driving tendons 3 are all fixed on the winding ring 7 and can be wound along the winding ring 7; one end of each fixing rod 8 is slidably sleeved and limited on the second rotating plate 6, and the other end corresponds to the driving tendon 3, so as to achieve synchronous contraction and differentiated contraction of the origami feet 2 in the same group by independently controlling the fixing and loosening of each driving tendon 3 by each fixing rod 8.

[0034] In one specific example, a linear motor 9 is also included. The mounting end of the linear motor 9 is fixed to the outer wall of the winding ring 7, and the driving end of the linear motor 9 is fixed to the other end of the positioning rod 5 to control the movement of the positioning rod 5.

[0035] In some examples, a control unit is also included, which includes a receiver 10 and a control panel 11. Both the receiver 10 and the control panel 11 are fixed on the mounting plate 1. The receiver 10 is used to receive external remote control signals. The signal output terminal of the receiver 10 is electrically connected to the signal input terminal of the control panel 11. The control panel 11 is electrically connected to the drive terminals of the drive motor 4 and the linear motor 9, and controls the operation of the drive motor 4 and the linear motor 9 in the form of electrical signals.

[0036] In one specific example, a battery 12 is also included, which is fixed to the mounting plate 1 and electrically connected to the receiver 10 and the control panel 11.

[0037] In some examples, anti-slip pads 13 are also included, and there are multiple anti-slip pads 13, which are respectively fixedly installed at the end of the origami foot 2 away from the mounting plate 1.

[0038] Example 2: See appendix Figure 1-8 This invention discloses a control method for a paper-folding bouncing robot based on Embodiment 1, comprising: S1, The control component controls the winding and releasing of the drive tendon 3 to achieve the compression energy storage or elastic release of the origami foot 2; S2. If it is necessary to jump forward, control the synchronous movement of the driving tendons 3 corresponding to the front and rear origami feet 2. Utilize the height difference formed by the difference in the number of layers of the two sets of origami feet 2 and the forward tilting tendency of the mounting plate 1 to convert the elastic potential energy into forward jumping kinetic energy, so as to realize the robot's continuous forward jumping. S3. If turning is required, adjust the tension of each driving tendon 3 on the same side of the two sets of origami feet 2 so that the corresponding origami feet 2 form differential contraction, and form a displacement difference when landing. With the origami foot 2 on the side with greater compression as the rotation axis, combined with the driving force of the origami foot 2 on the other side pushing off the ground, the robot can turn left or right. S4. After completing a single jump or turn, the drive tendon 3 returns to its initial state, the robot returns to the extended preparation state, and enters the next motion cycle.

[0039] In some examples, in S3, the difference in target compression between two sets of origami feet 2 on the same side is calculated to create a height difference, which generates a distance difference upon landing to achieve turning.

[0040] Specifically, it has four origami legs: a left foreleg, a left hindleg, a right foreleg, and a right hindleg. By controlling the rotary motor 4 to drive the drive tendons 3 to retract and release, it controls the individual compression and release of the forelegs and hindlegs. By controlling the drive tendons 3 of the forelegs and hindlegs to actively re-compress and re-release the forelegs and hindlegs during the jump, it can complete the posture adjustment in the air to avoid deviating from the working trajectory or to increase the jump distance and land earlier, etc., which are practical work needs. When the asymmetrical compression of the left and right legs is controlled by the drive tendons of the left and right legs, the robot can achieve angle deflection after jumping a certain distance, thereby completing the robot's jump turning. This allows the robot to complete tasks such as jumping over stones, jumping over steps, and jumping over walls.

[0041] Furthermore, when a forward jump is required, the linear motor 9 extends, causing the corresponding driving tendons 3 of the forefoot and hindfoot to be limited by each fixed rod 8 on the side wall of the first rotating plate 5. In this way, when the rotary motor 4 is driven, it can simultaneously drive the forefoot and hindfoot to contract synchronously. When a turn is required, the fixed rod 8 corresponding to the left forefoot still limits the corresponding driving tendon 3 on the side wall of the first rotating plate 5, while the fixed rod 8 corresponding to the right forefoot releases its control over the driving tendon 3. Moreover, when the rotary motor 4 drives the first rotating plate 5 to rotate, it can control the driving tendon of the right forefoot. The tension of the left forefoot is less than that of the drive tendon 3 in the left forefoot, resulting in greater compression of the left forefoot than the right forefoot. At this point, there is a height difference between the left and right forefoot, and the robot tends to jump forward to the left. After jumping a certain distance forward to the left, the left forefoot moves forward a shorter distance than the right forefoot. This can be approximated as the right forefoot making a counter-clockwise circular motion relative to the left forefoot, thus turning left. Similarly, this mechanism can control the robot to turn right. This mechanism allows the robot to overcome obstacles such as walls that cannot be jumped over by turning. See attached details. Figure 5 Rotation and attachment around the left foot as an axis Figure 6 As shown, the rotation is performed around the right foot as an axis.

[0042] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0043] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A paper-folding bouncing robot, characterized in that, include: Mounting plate (1); Multiple origami feet (2) are divided into two groups. The top of each origami foot (2) is fixed to the bottom wall of the mounting plate (1). The number of folds in one group of origami feet (2) is less than the number of folds in the other group of origami feet (2), so that there is a height difference between the two groups of origami feet (2), thereby causing the mounting plate (1) to tilt forward. Multiple control components and multiple drive tendons (3) are provided. Each control component is located between each group of origami feet (2) and is mounted on the mounting plate (1). The first end of each drive tendon (3) is fixed to the bottom of each origami foot (2) and extends upward through the mounting plate (1) from the inside of the origami foot (2). The second end of the drive tendon (3) is connected to the control end of the control component. The control component controls the winding and releasing of each group of drive tendons (3) to achieve the compression or release of the origami foot (2). By controlling the differential contraction of each drive tendon (3) on the same side of the two groups of origami feet (2), the robot can turn during the jumping process.

2. The origami-structured bouncing robot according to claim 1, characterized in that, The height difference between the two sets of origami feet (2) is 8%-15% of the overall height of the robot.

3. The origami-structured bouncing robot according to claim 1, characterized in that, The driving tendon (3) is an elastic rope.

4. The origami-structured bouncing robot according to claim 1, characterized in that, The control assembly includes a rotary motor (4), a first rotating plate (5), a second rotating plate (6), a winding ring (7), and multiple fixing rods (8). The mounting end of the rotary motor (4) is fixed on the mounting plate (1). The first rotating plate (5) is fixed on the driving end of the rotary motor (4). The second rotating plate (6) is arranged parallel to the first rotating plate (5) and is fixedly connected to the first rotating plate (5) through a central connector. The winding ring (7) is located outside the central connector and is fixed on the first rotating plate. The second ends of the driving tendons (3) are all fixed on the winding ring (7) and can be wound along the winding ring (7). One end of each fixing rod (8) is slidably sleeved and limited on the second rotating plate (6), and the other end corresponds to the driving tendon (3) so as to achieve synchronous contraction and differentiated contraction of the origami feet (2) in the same group by independently controlling the fixing and loosening of each driving tendon (3) by each fixing rod (8).

5. A paper-folding bouncing robot according to claim 4, characterized in that, It also includes a linear motor (9), the mounting end of which is fixed on the outer wall of the winding ring (7), and the driving end of the linear motor (9) is fixed to the other end of the positioning rod (5) to control the movement of the positioning rod (5).

6. A paper-folding bouncing robot according to claim 5, characterized in that, It also includes a control unit, which includes a receiver (10) and a control panel (11). The receiver (10) and the control panel (11) are both fixed on the mounting plate (1). The receiver (10) is used to receive external remote control signals. The signal output terminal of the receiver (10) is electrically connected to the signal input terminal of the control panel (11). The control panel (11) is electrically connected to the drive end of the drive motor (4) and the linear motor (9) to control the operation of the drive motor (4) and the linear motor (9) in the form of electrical signals.

7. A paper-folding bouncing robot according to claim 6, characterized in that, It also includes a battery (12) which is fixed on the mounting plate (1) and electrically connected to the receiver (10) and the control panel (11).

8. A paper-folding bouncing robot according to claim 7, characterized in that, It also includes anti-slip pads (13), there are multiple anti-slip pads (13), and they are respectively fixedly installed at the end of the origami foot (2) away from the mounting plate (1).

9. A control method for a paper-folding, bouncing robot based on any one of claims 1-8, characterized in that, include: S1. The control component controls the winding and releasing of the driving tendon (3) to realize the compression energy storage or elastic release of the origami foot (2); S2. If it is necessary to jump forward, control the driving tendons (3) corresponding to the origami feet (2) in front and behind to move synchronously. Utilize the height difference formed by the difference in the number of layers of the two sets of origami feet (2) and the forward tilting tendency of the mounting plate (1) to convert the elastic potential energy into forward jumping kinetic energy, so as to realize the robot's continuous forward jumping. S3. If a turn is required, adjust the tension of each of the driving tendons (3) on the same side of the two sets of origami feet (2) so that the corresponding origami feet (2) form differential contraction and form a displacement difference when landing. With the origami foot (2) on the side with a larger degree of compression as the rotation axis, combined with the driving force of the origami foot (2) on the other side pushing off the ground, the robot can turn left or right. S4. After completing a single jump or turn, the driving tendon (3) returns to its initial state, the robot returns to the extended preparation state, and enters the next motion cycle.

10. The control method for a paper-folding bouncing robot according to claim 9, characterized in that, In S3, the target compression difference between the two sets of origami feet (2) on the same side is calculated to form a height difference, and a distance difference is generated when the jump lands to achieve turning.

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