An Earthworm-Inspired Soft Crawling Robot Controlled by Friction

TL;DR

This paper introduces a soft robot inspired by earthworm anatomy that uses friction manipulation for crawling, with a new design, modeling, and control system validated through experiments.

Contribution

It presents a novel earthworm-inspired soft robot with a new design, modeling, and feedback control for effective crawling on surfaces.

Findings

Successful demonstration of controlled crawling motion

Model accurately predicts crawling dynamics

Robust locomotion verified experimentally

Abstract

We present the modeling, design, fabrication and feedback control of an earthworm-inspired soft robot capable of crawling on surfaces by actively manipulating the frictional force between its body and the surface. Earthworms are segmented worms composed of repeating units known as metameres. The muscle and setae structure embedded in each individual metamere makes possible its peristaltic locomotion both under and above ground. Here, we propose a pneumatically-driven soft robotic system made of parts analogous to the muscle and setae structure and can replicate the crawling motion of a single earthworm metamere. A model is also introduced to describe the crawling dynamics of the proposed robotic system and proven be controllable. Robust crawling locomotion is then experimentally verified.