A comprehensive study on the locomotion characteristics of a metameric earthworm-like robot

摘要

This research is a comprehensive study on the correlations between the locomotion characteristics and the gait patterns of a metameric earthworm-like robot. The paper is divided into two parts: modeling and gait generation are the focuses of Part A; relationship among physical parameters, gait designs and dynamic behavior of the robot, as well as gait optimization and experimental verification are the core problems presented in Part B. The results of the research contribute to the design and control of earthworm-like robots.