Worm-Like Robotic Locomotion with a Compliant Modular Mesh

@inproceedings{Horchler2015WormLikeRL,
  title={Worm-Like Robotic Locomotion with a Compliant Modular Mesh},
  author={Andrew D. Horchler and Akhil Kandhari and Kathryn A. Daltorio and Kenneth C. Moses and Kayla B. Andersen and Hillary Bunnelle and Joseph Kershaw and William H. Tavel and Richard J. Bachmann and Hillel J. Chiel and Roger D. Quinn},
  booktitle={Living Machines},
  year={2015}
}
In order to mimic and better understand the way an earthworm uses its many segments to navigate diverse terrain, this paper describes the design, performance, and sensing capabilities of a new modular soft robotic worm. The robot, Compliant Modular Mesh Worm (CMMWorm), utilizes a compliant mesh actuated at modular segments to create waveforms along its body. These waveforms can generate peristaltic motion of the body similar to that of an earthworm. The modular mesh is constructed from 3-D… CONTINUE READING

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