An earthworm-inspired soft crawling robot controlled by friction

@article{Ge2017AnES,
  title={An earthworm-inspired soft crawling robot controlled by friction},
  author={Joey Z. Ge and Ariel A. Calder{\'o}n and N{\'e}stor Osvaldo P{\'e}rez-Arancibia},
  journal={2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  year={2017},
  pages={834-841}
}
We present the design, fabrication, modeling and feedback control of an earthworm-inspired soft robot that crawls on flat surfaces by actively changing the frictional forces acting on its body. Earthworms are segmented and composed of repeating units called metameres. During crawling, muscles enable these metameres to interact with each other in order to generate peristaltic waves and retractable setae (bristles) produce variable traction. The proposed robot crawls by replicating these two… 

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