Page 22 - Read Online
P. 22
Page 4 of 26 Blewitt et al. Soft Sci 2024;4:13 https://dx.doi.org/10.20517/ss.2023.49
Figure 2. Diagram of an Earthworm mechanism moving through a pipe.
Figure 3. Examples of Earthworm Robots and actuators. (A) Fluid-filled pneumatic actuator under positive and negative pressure
adapted with permission from Das et al. [15] ; (B) CMMWorm in a 15.2 cm Ø pipe developed by Daltorio and Kandhari. Provided by
Daltorio et al. [24] ; (C) Earthworm robot made from pneumatic artificial muscles, reprinted with permission from Sato et al. [26] ; (D)
Wireless magnetically actuated Earthworm Robot reprinted with permission from You et al. [30] . CMMWorm: Compliant Modular Mesh
Worm.
to maximise movement in a single cycle but also to render movement more predictable as the position of
