A CPG?Based Versatile Control Framework for Metameric Earthworm?Like Robotic Locomotion (Adv. Sci. 14/2023)

Bioinspired Robots In article number 2206336, Qinyan Zhou, Jian Xu, and Hongbin Fang pioneer a neurobiologically inspired control architecture for earthworm-like robotic in-pipe locomotion. The distributed oscillators serve as mapping between earthworm neural oscillations segment deformations, the collective dynamics of oscillator network is exploited to achieve complex gait patterns better locomotion performance, thus laying solid foundation attaining autonomy, polymorphism adaptivity metameric peristaltic