Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion

Taro Nakamura; Takashi Kato; Tomohide Iwanaga; Yoichi Muranaka

doi:10.20965/jrm.2006.p0299

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JRM Vol.18 No.3 pp. 299-304

doi: 10.20965/jrm.2006.p0299

(2006)

Paper:

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Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion

Taro Nakamura, Takashi Kato, Tomohide Iwanaga,
and Yoichi Muranaka

Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

Received:

November 2, 2005

Accepted:

May 1, 2006

Published:

June 20, 2006

Keywords:

peristaltic crawling, earthworm, robot, locomotion pattern

Abstract

Earthworm locomotion, called peristaltic crawling, requires less space than other types of movement, making it practical across irregular ground and inside narrow areas such as pipes and a thus a candidate for use with rescue and exploration robots. We developed a multiple-segment peristaltic crawling robot that uses servomotors. We discuss the basics of locomotion patterns, e.g., the length of longitudinal waves, period, friction force, and number of segments. We confirmed that robot movement resembled that of an actual earthworm and found in experiments that an appropriate period exists for the robot’s peristaltic crawling and that speed tends to decrease with decreasing friction force.

Cite this article as:

T. Nakamura, T. Kato, T. Iwanaga, and <. Muranaka, “Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion,” J. Robot. Mechatron., Vol.18, No.3, pp. 299-304, 2006.

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References

[1] M. Takahashi et al., “The Developed of an IN-pipe Micro-robot Applying the Motion of an Earthworm,” J. JSPE, Vol.61, No.1, pp. 90-94, 1995 (in Japanese).
[2] N. Saga, and T. Nakamura, “Development of peristaltic crawling robot using magnetic fluid on the basis of locomotion mechanism of earthworm,” Smart material and structures, Vol.13, No.3, pp. 566-569, 2004.
[3] N. Saga, and T. Nakamura, “A Prototype of Peristaltic Robot Using Pneumatic Artificial Muscle,” Intelligent autonomous system, No.8 (1), pp. 85-95, 2004.
[4] T. Nakamura, N. Saga, and K. Yaegashi, “Development of Pneumatic Artificial Muscle based on Biomechanical Characteristics,” Proceedings of IEEE International Conference on Industrial Technology Proceedings, pp. 729-734, 2003.
[5] J. Zou, G. Yan, and Z. Gao, “A micro creeping robot for colonoscopy based on the earthworm,” J. of Medical Engineering & Technology, Vol.29, No.1, pp. 1-7, 2005.
[6] T. Maeno, N. Yamazaki, and T. Tachikawa, “Frictional Driving Mechanism Based on Wave Propagation (1^st Report, Measurement and Simulation of Earthworm Locomotion),” Trans. JSME(C), Vol.62, No.603, pp. 142-149, 1996 (in Japanese).
[7] M. Tsuchiya, T. Maeno, and N. Yamazaki, “Frictional Driving Mechanism Based on Wave Propagation (2^nd Report, Model of Earthworm-like Structure Considering Deformation of the Body),” Trans. JSME(C), Vol.65, No.636, 1, pp. 3328-3335 (in Japanese).
[8] H. Sugi, “Evolution of Muscle Motion,” the University of Tokyo Press, p. 72, 1977 (in Japanese).
[9] R. M. Alexander, “Exploring Biomechanics, Animals in Motion,” W. H. Freeman and Company, 1992.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. Takahashi et al., “The Developed of an IN-pipe Micro-robot Applying the Motion of an Earthworm,” J. JSPE, Vol.61, No.1, pp. 90-94, 1995 (in Japanese).

[2] [2] N. Saga, and T. Nakamura, “Development of peristaltic crawling robot using magnetic fluid on the basis of locomotion mechanism of earthworm,” Smart material and structures, Vol.13, No.3, pp. 566-569, 2004.

[3] [3] N. Saga, and T. Nakamura, “A Prototype of Peristaltic Robot Using Pneumatic Artificial Muscle,” Intelligent autonomous system, No.8 (1), pp. 85-95, 2004.

[4] [4] T. Nakamura, N. Saga, and K. Yaegashi, “Development of Pneumatic Artificial Muscle based on Biomechanical Characteristics,” Proceedings of IEEE International Conference on Industrial Technology Proceedings, pp. 729-734, 2003.

[5] [5] J. Zou, G. Yan, and Z. Gao, “A micro creeping robot for colonoscopy based on the earthworm,” J. of Medical Engineering & Technology, Vol.29, No.1, pp. 1-7, 2005.

[6] [6] T. Maeno, N. Yamazaki, and T. Tachikawa, “Frictional Driving Mechanism Based on Wave Propagation (1^st Report, Measurement and Simulation of Earthworm Locomotion),” Trans. JSME(C), Vol.62, No.603, pp. 142-149, 1996 (in Japanese).

[7] [7] M. Tsuchiya, T. Maeno, and N. Yamazaki, “Frictional Driving Mechanism Based on Wave Propagation (2^nd Report, Model of Earthworm-like Structure Considering Deformation of the Body),” Trans. JSME(C), Vol.65, No.636, 1, pp. 3328-3335 (in Japanese).

[8] [8] H. Sugi, “Evolution of Muscle Motion,” the University of Tokyo Press, p. 72, 1977 (in Japanese).

[9] [9] R. M. Alexander, “Exploring Biomechanics, Animals in Motion,” W. H. Freeman and Company, 1992.

Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion

Taro Nakamura, Takashi Kato, Tomohide Iwanaga, and Yoichi Muranaka

Taro Nakamura, Takashi Kato, Tomohide Iwanaga,
and Yoichi Muranaka