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MOSS origami-wheel amphibious robot achieves terrain-adaptive deformation

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T. Lan et al. proposed an amphibious robot platform MOSS, which uses 3D-printed origami wheels and switches between contracted and expanded configurations via a crank mechanism, simultaneously changing wheel width, wheel diameter, and fin orientation. In tests, MOSS completed configuration switching within 1.95±0.11 seconds and achieved continuous locomotion across soil-mud-water transitions. The two configurations each have suitable scenarios: the contracted configuration has lower transport cost on harder soil and muddy ground, while the expanded configuration performs better in wetter mud, sand, and water, reducing transport cost by up to 29%. This work has been submitted to ICRA 2027.