Robot based on paper folding principle, control method of robot, controller and storage medium

The embodiment of the invention provides a robot based on a paper folding principle, a control method of the robot, a controller and a storage medium, and belongs to the technical field of paper folding robots. The motion control method of the robot comprises the steps that the robot is controlled to enter a rotor wing shape or a rolling wheel shape through a folding and unfolding motor and a driving connecting element, the rotor wing shape refers to that fan-shaped panels at each end are in a pairwise overlapped state, and the rolling wheel shape refers to that the fan-shaped panels at each end are in a pairwise unfolded state; in the rotor wing form, the robot is controlled to enter a flight mode in the rotor wing form through a motion control system; and in the rolling wheel form, the robot is controlled to enter a rolling mode in the rolling wheel form through the motion control system. According to the robot, complete switching between the rotor wing form and the rolling wheel form is achieved based on a