Engineers from the Italian Institute of Technology have developed a soft robot that can crawl.
To create their robot, researchersused the results of observation of the mechanics of earthworms. These animals use alternating muscle contractions to propel themselves both inside the soil and on the ground. Separate body segments (metamers) contain a fluid that controls internal pressure and controls independent, localized and variable movements.
The device of an earthworm (left) and a robotic analogue (right). Image:
Engineers have found a way to imitate such musclemovements in soft robots. The prototype worm robot they developed measures 45 cm and weighs 605 g. It consists of five linked peristaltic soft actuators that mimic the antagonistic movements of earthworm muscles. The device extends from the neutral position when air is forced into the actuator, and compresses when the pressure drops.
Each drive is surrounded by a shell, which, likereal worms, contains a small amount of liquid. Each individual actuator can extend or contract by almost 11 mm when applying 1 bar positive pressure and 0.5 bar negative pressure respectively.
The robot is an earthworm. Video: IIT — Istituto Italiano di Tecnologia
To move the robot on a flat surface toOn the abdominal surface, the engineers attached small passive friction pads resembling the bristles of worms. In the experiment, the robot worm demonstrated the ability to move at speeds up to 1.35 mm/s. The authors believe that scaled similar devices can be used for underground excavation or rescue work under rubble.
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Cover image: IIT — Istituto Italiano di Tecnologia