Wire-Driven Earthworm Robot with a Simple Structure and Small-Diameter Wheels for Enhanced Step-Climbing Performance

Abstract

Water leakage from cracks in concrete structures often causes corrosion-related damage to ceiling materials in overhead spaces. Early detection and repair through regular inspections are essential. However, there are many obstacles in such space, making visual assessment difficult. In this study, we propose a Wire-driven Earthworm Robot capable of locomotion in confined environments by mimicking peristaltic motion. Experimental results demonstrated that the robot achieved a forward velocity of 28.4[mm/s]. Furthermore, by applying differential tension to the wires, the robot was able to lift its front section and overcome obstacles approximately twice the height of its wheel radius.