WORMESH-I: Introducing a Robot Concept Bio-Inspired by Flatworms, Developing a Mechanical Model, and Creating Locomotion via Pedal Waves

Flatworms exhibit remarkable pedal-wave-driven locomotion abilities through their dorsoventrally flattened, bilaterally symmetrical bodies, which glide smoothly across various surfaces. This study introduces a bio-inspired mobile robot prototype designed to mimic flatworm movement that leverage the advantages of pedal locomotion on challenging terrains. The robot design includes a mesh-like structure with interconnected body modules linked via multi-degree-of-freedom joints for enhanced movement versatility. A modified universal joint that functions as a constant-velocity joint connects the modules, thereby enabling complex motion patterns. We explored four types of traveling waves, inspired by gastropod locomotion to achieve diverse movements, including translational, spinning, and omnidirectional motions. This study comprehensively examines the movement characteristics and performance of the prototype, highlighting its potential applications in complex environments in which traditional locomotion methods are less effective.