Earthworm-Inspired Multimodal Pneumatic Continuous Soft Robot Enhanced by Winding Transmission.

ABSTRACT: This paper presents an earthworm-inspired multimodal pneumatic continuous soft robot enhanced by wire-winding transmission. First, a derived overlapped continuous control law based on multiple peristaltic waves is introduced to effectively improve the motion performance of the robot. Second, by applying the wire-winding transmission method, the extension of one segment is simultaneously transformed into the contraction of other segments, achieving coordinated deformation and making it more similar to real earthworms. In addition, an autonomous obstacle-avoidance control strategy based on contact force sensing is developed to enhance the environmental adaptability of the robot. Based on these methods, an earthworm-inspired soft robot that can perform multimodal movements with autonomous obs

SUBMITTER: Liu J 

PROVIDER: S-EPMC11919822 | biostudies-literature | 2025

REPOSITORIES: biostudies-literature