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.
|ジャーナル||Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|出版ステータス||Published - 1999|
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