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

摘要

Earthworm move on the complex uneven around by its own peristalsis. Therefore, earthworm like structure can be applied to a mobile robot which moves autonomously in a narrow pipe or on an irregular around. 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 around 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.