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Screw-based locomotion is a robust method of locomotion across a wide rangeof media including water, sand, and gravel. A challenge with screws is theirsignificant number of impactful design parameters that affect locomotionperformance in varying environments. One crucial parameter is the angle ofattack, also referred to as the lead angle. The angle of attack has asignificant impact on the screw's performance as it creates a trade-off betweenefficiency and forward velocity. This trend is consistent across various typesof media. In this work, we present a Novel Actuating Screw Unit. It is thefirst screw-based propulsion design that enables the reconfiguration of theangle of attack dynamically for optimized locomotion across multiple media. Thedesign is inspired by the kresling unit, which is a widespread mechanism inorigami robotics, and the angle of attack is adjusted with a linear actuator,while the entire unit is spun on its axis as an archimedean screw. NASU isintegrated onto a mobile test-bed and experiments are conducted in a largevariety of media including gravel, grass, and sand. Our experiments show theproposed design is a promising direction for reconfigurable screws by allowingcontrol to optimize for efficiency or velocity.

NASU -- Novel Actuating Screw Unit: Origami-inspired Screw-based Propulsion on Mobile Ground Robots