Frictional Driving Mechanism Based on Wave Propagation (2nd Report, Model of Earthworm-like Structure Considering Deformation of the Body)

Manabu Tsuchiya, Takashi Maeno, Nobutoshi Yamazaki

Research output: Contribution to journalArticle

4 Citations (Scopus)


Earthworm move on the complex uneven ground by its own peristalsis. Therefore, earthwormlike structure can be applied to a mobile robot which moves autonomously in a narrow pipe or on an irregular ground. In this study we propose a simple two-dimentional link model consists of flexible bar elementswe capable of calculating the locomotion pattern of the soft creatures including an earthworm. Calculated locomotion pattern of the earthworm-like structure is similar to the measured ones. It is found that the earthworm-like structure can move at a constant speed on the plane ground when fiction coefficient is large enough. It is also found that the earthworm can move even when there is a projection or several segments are broken down.

Original languageEnglish
Pages (from-to)3328-3335
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number636
Publication statusPublished - 1999



  • Bio-motion
  • Biomechanics
  • Contact
  • Earthworm
  • Friction
  • Neural Network
  • Wave Propagation

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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