This study presents a novel approach to modeling and analyzing peristaltic locomotion in soft robotics, with a focus on the interaction and significance of friction. Leveraging the biologically inspired design of earthworm locomotion, a mathematical model is developed to understand the dynamics of soft robotic movement. Key elements include the analysis of longitudinal muscle contractions and their impact on efficient navigation in confined spaces. The model incorporates factors such as frictional forces and pneumatic propulsion, providing insights into the mechanics of soft robot locomotion. The research further extends to the manufacturing of a prototype, highlighting the practical applications and potential enhancements in soft robotics design and control. This work lays a foundation for future studies to explore more complex frictional behaviors and variable spring constants, aiming to contribute on the field of soft robotics.


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    Titel :

    Modeling and Analysis of Peristaltic Locomotion in Soft Robots: Focusing on the Interaction and Importance of Friction


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:

    Kongress:

    IFToMM International Symposium on Robotics and Mechatronics ; 2024 ; Djerba, Tunisia April 17, 2024 - April 19, 2024


    Erschienen in:

    Robotics and Mechatronics ; Kapitel : 24 ; 263-270


    Erscheinungsdatum :

    25.09.2024


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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