Abstract
Inspired by flatworm locomotion, we proposed concept of a novel flatworm like robot named WORMESH. The feature of this robot is its structure, in which the component links are connected in a mesh pattern in the vertical and horizontal directions with joints having multiple degrees of freedom. The entire body of the robot is flexed to create multiple pedal waves simultaneously, to move and work. The second experimental model, WORMESH-II was then developed, with newly designed interlocking double joints. Further, its mobility performance is being verified.
This paper discusses pedal wave locomotion of the WORMESH-II and how locomotion behaves under transitioned friction conditions. The simulation results depicted three significant: First, the pedal wave locomotion of WORMESH-II which has constructed by three units of kinematic chain arrangement is not continuous wave motion, and it is a combination of four locomotion steps. Second, there is an average velocity reduction when the robot moves between a lower friction area to a higher friction area. Third, in such a situation, locomotion can be improved by changing the robot’s front and rear joints’ wave parameters.
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Rasanga, G.V.C., Hodoshima, R., Kotosaka, S. (2022). The Flatworm-Like Pedal Locomotory Robot WORMESH-II: Fundamental Properties of Pedal Wave Locomotion. In: Chugo, D., Tokhi, M.O., Silva, M.F., Nakamura, T., Goher, K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_9
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