A new theory and methods for creating peristaltic motion in a robotic platform

摘要: We have developed several innovative designs for a new kind of robot that uses peristalsis locomotion, the same method earthworms use, and report on first completed prototype (Fig. 1). This form locomotion is particularly effective in constrained spaces, although motion has been understood some time, it rarely effectively or accurately implemented robotic platform. address reasons this, including common misconceptions within field. present technique using braided mesh exterior to produce fluid waves along body worm-like robot. also analytical model this compare predicted velocity 2-D simulation. Unlike previous mathematical models peristaltic motion, our suggests friction not limiting factor speed, but only acceleration. The concept highly scalable, we methods construction at two different scales.