Development of peristaltic crawling robot which imitates muscle structure of an earthworm

In disaster areas, rescue work by humans is extremely difficult and dangerous. Therefore, rescue work using rescue robots in place of humans is attracting attention. This study specifically examines peristaltic crawling, the movement technique used by earthworms, because it can enable movement throu...

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Bibliographic Details
Published inKikai Gakkai ronbunshū = Transactions of the Japan Society of Mechanical Engineers Vol. 84; no. 861; p. 17-00548
Main Authors SAGA, Norihiko, TESEN, Satoshi, SATO, Toshiyuki, NAGASE, Jun-ya, ENDO, Takumi
Format Journal Article
LanguageEnglish
Japanese
Published The Japan Society of Mechanical Engineers 2018
Subjects
Biomimetics
FEM analysis
Mobile robot
Peristaltic crawling robot
Strength calculation
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Summary:In disaster areas, rescue work by humans is extremely difficult and dangerous. Therefore, rescue work using rescue robots in place of humans is attracting attention. This study specifically examines peristaltic crawling, the movement technique used by earthworms, because it can enable movement through narrow spaces and because it can provide stable movement even in various difficult environments. Moreover, we designed each part of the robot based on required specifications and developed a real robot. We present results of motion experiments conducted with robot movement on level ground.
ISSN:2187-9761
2187-9761
DOI:10.1299/transjsme.17-00548