title: Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots.
abstract: In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress
authors: Department of Mechanical Engineering, Case Western Reserve University, 10900 Euclid Ave, Cleveland, OH 44106-7078, USA. kathryn.daltorio@case.edu
authors: Kathryn A
authors: KA
authors: Daltorio
authors: Alexander S
authors: AS
authors: Boxerbaum
authors: Andrew D
authors: AD
authors: Horchler
authors: Kendrick M
authors: KM
authors: Shaw
authors: Hillel J
authors: HJ
authors: Chiel
authors: Roger D
authors: RD
authors: Quinn
mesh_terms: D000818:Animals; D000845:Annelida / Q000502:physiology*; D032701:Biomimetics / Q000379:methods*; D003198:Computer Simulation; D017276:Friction / Q000502:physiology; D005684:Gait / Q000502:physiology*; D006244:Hardness / Q000502:physiology; D008124:Locomotion / Q000502:physiology*; D008954:Models, Biological; D010528:Peristalsis / Q000502:physiology*; D012371:Robotics / Q000379:methods*