The individual segments (metameres) of the worm each have a specific quantity of fluid, and perform independent, localized and variable movement patterns, due to transverse sub-divisions by muscular membranes 8, 10. ![]() They use alternating contractions of muscle layers to propel themselves both below and above the soil surface by generating retrograde peristaltic waves 9. Natural burrowers 7 such as earthworms are entirely soft and possess a hydrostatic skeleton 8. Nature offers many examples of animals that use both the flexibility of their bodies and the ability to generate physical traveling waves along the length of their body to move and explore different environments, such as snakes 1, 2, earthworms 3, snails 4, and caterpillars 5, 6. This study proposes a new method for developing a peristaltic earthworm-like soft robot and provides a better understanding of locomotion in different environments. ![]() The role of friction was also investigated during experimental locomotion tests by attaching passive scales like earthworm setae to the ventral side of the robot. ![]() The assembled robot with five PSA modules enabled to perform peristaltic locomotion in different media. The performance of PSA depends on the amount and type of fluid confined in an elastomer chamber, generating different forces and displacements. PSA generates a longitudinal force for axial penetration and a radial force for anchorage, through bidirectional deformation of the central bellows-like structure, which demonstrates its versatility and ease of control. The PSA demonstrates two active configurations from a neutral state by switching the input source between positive and negative pressure. Inspired by antagonistic muscle contractions and constant volume coelomic chambers observed in earthworms, we designed and developed a modular soft robot based on a peristaltic soft actuator (PSA). Robotic locomotion in subterranean environments is still unsolved, and it requires innovative designs and strategies to overcome the challenges of burrowing and moving in unstructured conditions with high pressure and friction at depths of a few centimeters.
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