Robotic earthworm using electro-conjugate fluid

Abstract

This study develops a novel robotic earthworm using electro-conjugate fluid (ECF), which generates a jet flow with high DC voltage. The robot, inside of which is filled up with ECF, has two ECF jet generators sandwiched with three flexible silicone rubber tubes (all components are located in series). When applying an appropriate electrical input to each jet generator, the robot generates a peristaltic motion, which may push the body forward. The robot is 60 mm long with the diameter of 6 mm. The experimental results confirm the robot moves in a � 6.5 mm acrylic resin pipe with 0.13 mm/s.