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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    Title :

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


    Additional title:

    Mechan. Machine Science



    Conference:

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


    Published in:

    Robotics and Mechatronics ; Chapter : 24 ; 263-270


    Publication date :

    2024-09-25


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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