This paper reports a magnetically actuated amphibious origami millirobot capable of spinning-enabled multimodal locomotion, liquid medicine delivery, and cargo transportation. The robot uses Kresling origami's geometry and folding/unfolding capabilities for omnidirectional locomotion (rolling, flipping, spinning), liquid medicine delivery (folding/unfolding as a pump), and cargo transportation (spinning creates suction). Potential applications include minimally invasive biomedical diagnoses and treatments.

Qiji Ze, Shuai Wu, Jize Dai, Sophie Leanza, Gentaro Ikeda, Phillip C. Yang, Gianluca Iaccarino, Ruike Renee Zhao