Journal
BIOINSPIRATION & BIOMIMETICS
Volume 8, Issue 3, Pages -Publisher
IOP PUBLISHING LTD
DOI: 10.1088/1748-3182/8/3/035003
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Funding
- NIAID NIH HHS [T32 AI089474] Funding Source: Medline
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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.
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