Peristaltic locomotion with antagonistic actuators in soft robotics

@article{Seok2010PeristalticLW,
  title={Peristaltic locomotion with antagonistic actuators in soft robotics},
  author={Sangok Seok and Cagdas D. Onal and Robert J. Wood and Daniela Rus and Sangbae Kim},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={1228-1233}
}
This paper presents a soft robotic platform that exhibits peristaltic locomotion. [] Key Method A numerical model for the mesh structure describes how peristaltic motion induces robust locomotion and details the deformation by the contraction of NiTi actuators. Several peristaltic locomotion modes are modeled, tested, and compared on the basis of locomotion speed. The entire mechanical structure is made of flexible mesh materials and can withstand significant external impacts during locomotion. This approach…

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