An origami-wheeled robot with variable width and enhanced sand walking versatility

•Developed an origami-wheeled robot (OriWheelBot) with variable width and enhanced sand walking versatility.•Derived the variable-width and diameter analytical models of the origami wheel.•Identified two motion mechanisms, i.e., sand-digging and sand-pushing, with the latter being more conducive to walking on the sand.•The OriWheelBot can change its width by 40 %, has a loading-carrying ratio of 66.7 % on flat sand and can climb a 17-degree sand incline. Robots inspired by origami that offer several benefits, including being lightweight, requiring less assembly, and possessing remarkable deformability, have drawn a lot of interest. However, the existing origami-inspired robots are usually of limited functionalities and developing feature-rich robots is very challenging. Here, we report an origami-wheeled robot (OriWheelBot) with exceptional mobility for sand walking and a changing width. Origami wheels created using Miura origami permit the OriWheelBot to alter wheel width over obstacles. We derive the variable-width and diameter analytical models of the origami wheel, assuming rigid-folding, which has been confirmed by testing. An enhanced variant, dubbed iOriWheelBot, is additionally being developed to autonomously determine the obstacle's breadth. Based on the width of the channel between the barriers, three actions will be executed: direct pass, variable width pass, and direct return. Sand-pushing is more suitable for walking on the sand than sand-digging, which is the other of the two motion mechanisms that we have identified. Many aspects of sand walking, including carrying loads, walking on a slope, climbing a slope, and negotiating sand pits, small rocks, and sand traps, have been methodically investigated. The OriWheelBot can climb a 17-degree sand incline, vary its width by 40 %, and have a loading-carrying ratio of 66.7 % on flat sand. Rescue operations in disaster areas and planetary subsurface exploration can benefit from the OriWheelBot. [Display omitted]