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crawling locomotion

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Development of a New Multi-cavity Pneumatic-driven Earthworm-like Soft Robot
Zhijie Tang, Jiaqi Lu, Zhen Wang, Gaoqian Ma, Weiwei Chen, Hao Feng
Journal:

Robotica / Volume 38 / Issue 12 / December 2020

Published online by Cambridge University Press:

06 May 2020, pp. 2290-2304
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This paper presents a soft robot which can imitate the crawling locomotion of an earthworm. Locomotion of the robot can be achieved by expanding and contracting the body that is made of flexible material. A link of the earthworm-like robot is combined with three modules, and a multi-cavity earthworm-like soft robot is combined with multiple links. The multiple links of the earthworm-like soft robot are fabricated by silicone in the three-dimensional printed customized molds. Experiments on a single module, two-links, and three-links show that the soft robot can move and bend on condition of modules extension and contraction in a specified gait. The development of the earthworm-like soft robot shows a great prospect in many complicated environments such as pipeline detection.