Continuous wave peristaltic motion in a robot

We have developed several innovative designs for a new kind of robot that uses a continuous wave of peristalsis for locomotion, the same method that earthworms use, and report on the first completed prototypes. This form of locomotion is particularly effective in constrained spaces, and although the motion has been understood for some time, it has rarely been effectively or accurately implemented in a robotic platform. We present a technique using a braided mesh exterior to produce smooth waves of motion along the body of a worm-like robot. We also present a new analytical model of this motion and compare predicted robot velocity to a 2-D simulation and a working prototype. Because constant-velocity peristaltic waves form due to accelerating and decelerating segments, it has been often assumed that this motion requires strong anisotropic ground friction. However, our analysis shows that with uniform, constant velocity waves, the forces that cause accelerations within the body sum to zero. Instead, transition timing between aerial and ground phases plays a critical role in the amount of slippage, and the final robot speed. The concept is highly scalable, and we present methods of construction at two