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

摘要

This is the second part of a comprehensive study on the locomotion characteristics of a metameric earthworm-like robot. Three major contributions from the first part paper are used as the foundations of this investigation: (a) the novel analytical models describing the kinematic and dynamic characteristics of the robot locomotion, (b) a gait generation algorithm based on the mechanism of retrograde peristalsis wave, and (c) the discovery of critical conditions for actuator-overload and anchor-slippage.