Development of control systems and robot hardware to improve the functionality of a peristaltic crawling robot

Abstract

We have been developing an articulated mobile robot that mimics the peristaltic movement of an earthworm. This robot is suitable for inside the rubble and pipe inspection because of its high performance in running on uneven terrain and its mechanism for moving in a narrow space. In this study, we developed a control system using Arduino and designed a robot body section to improve the moving speed, aiming to have the scalability to add sensors and actuators easily.