Polychaete-Like Undulatory Robotic Locomotion in Unstructured Substrates

Abstract

A biological paradigm of versatile locomotion and effective motion control is provided by the polychaete annelid worms, whose motion adapts to a large variety of unstructured environmental conditions (sand, mud, sediment, water, etc.), and could thus be of interest to replicate by robotic analogs. Their locomotion is characterized by the combination of a… (More)
DOI: 10.1109/TRO.2007.909791

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