1P1-C07 Development of peristaltic robot like an earthworm Active direction control using

Abstract

Attention is currently focused on earthworm's locomotion mechanism that is called a peristaltic crawling. The amount of space required by this locomotion mechanism is smaller than that of other locomotion mechanisms. Further, it is possible that the locomotion mechanism move on unleveled ground and inside a tube. But present peristaltic crawling robots can do only straight or passive winding movement in a tube. In this study, we developed the peristaltic crawling robot that can run not only the inside of a tube but also on a plane surface. And it can actively and passively change the direction.