High‐Speed Crawling Robot Enabled by Dynamic Energy Release in Bistable Kresling Origami Structures

ABSTRACT Origami‐inspired robots hold significant potential in flexible systems, yet their operational speeds remain constrained by the inherent trade‐off between structural compliance and actuation efficiency. This study presents a novel approach by exploiting the transient energy release characteristics of bistable Kresling origami to achieve rapid locomotion. Through parametric modelling of the critical bistable transition, we establish quantitative relationships between geometric parameters and dynamic performance metrics, revealing that optimised configurations enable ultra‐fast rebound within 60 ms. The robot integrates a cable‐driven crank mechanism that synchronises motor rotation with periodic linear actuation, achieving precise control over energy storage–release cycles. A bioinspired differential friction foot design with programmable anchoring sequences facilitates earthworm‐like peristaltic motion. Experimental results demonstrate exceptional crawling speeds up to 375 mm/s (3–4 body lengths/s) across multiple substrates (ceramic, wood, PVC). This work provides a paradigm‐shifting framework for reconciling speed and flexibility in soft robotics, with direct implications for applications requiring rapid reconfiguration in confined environments.