xrobots / worm

Worm Robot CAD and Code: https://youtu.be/DhLgZzd9ZoA

worm's Issues

More effective robot worm design.

What would make this robot worm more effective, is if you create different types of segments. One kind that only expands/contracts radially, and another that only extends/contracts along the length of the robot without touching the floor.
.
As this image shows, a robot worm can move with peristalsis. While you did implement peristalsis in your robot's motion, all the segments being uniform impedes its efficiency. You could try to create a new design for this robot that has radially expanding actuators on its ends, and longitudinally expanding actuators between them.

(The image above is from a very interesting paper on robot worm design, utilizing pneumatics and kirigami. "Kirigami Skin Improves Soft Earthworm Robot Anchoring and Locomotion Under Cohesive Soil" Liu et al. 2019)