Inspired by flatworm locomotion, we proposed concept of a novel flatworm like robot named WORMESH. The feature of this robot is its structure, in which the component links are connected in a mesh pattern in the vertical and horizontal directions with joints having multiple degrees of freedom. The entire body of the robot is flexed to create multiple pedal waves simultaneously, to move and work. The second experimental model, WORMESH-II was then developed, with newly designed interlocking double joints. Further, its mobility performance is being verified.

    This paper discusses pedal wave locomotion of the WORMESH-II and how locomotion behaves under transitioned friction conditions. The simulation results depicted three significant: First, the pedal wave locomotion of WORMESH-II which has constructed by three units of kinematic chain arrangement is not continuous wave motion, and it is a combination of four locomotion steps. Second, there is an average velocity reduction when the robot moves between a lower friction area to a higher friction area. Third, in such a situation, locomotion can be improved by changing the robot’s front and rear joints’ wave parameters.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    The Flatworm-Like Pedal Locomotory Robot WORMESH-II: Fundamental Properties of Pedal Wave Locomotion


    Additional title:

    Lect. Notes in Networks, Syst.


    Contributors:

    Conference:

    Climbing and Walking Robots Conference ; 2021 August 30, 2021 - September 01, 2021



    Publication date :

    2021-09-04


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    Pedal and clutch pedal

    YANG WEIFENG / LI GAOPENG / ZHU GUANGHAI et al. | European Patent Office | 2015

    Free access

    Automobile pedal, pedal forming mold and automobile pedal manufacturing method

    JIAN WEIWEN / YIN ZHIHUA / MAI JUNYI et al. | European Patent Office | 2023

    Free access

    DETENT PEDAL EFFORT TYPE PEDAL

    KIM WOO DUCK / KIM MI YEONG / PARK MIN SEONG et al. | European Patent Office | 2019

    Free access

    SUSPENDED PEDAL AND PEDAL HANGER

    KAKIMI TOMIO | European Patent Office | 2021

    Free access