Earthworm-like robot based on thermoelectric pneumatic-driven cell

This paper presents an earthworm-like robot driven by thermoelectric pneumatic cells. It uses the rapid thermal response of thermoelectric materials and liquid-gas phase change to achieve efficient peristaltic motion. In this paper, the overall structure of the earthworm-like robot is constructed, which includes a simplified pneumatic system, a thermoelectric pneumatic cell, and a bionic bristles structure. This robot has the stability of movement and the propulsion efficiency. The motion performance of the robot is tested under different conditions, including the driving force and the single advance distance produced by the thermoelectric pneumatic cell, as well as the effects of different applied voltages and different slopes on the single advance distance. In addition, the turning performance with the addition of different amounts of alcohol is also studied. It is cheaper to make, easier to control, and has a strong ability to adapt to the environment. This study verifies the feasibility of the earthworm-like robot based on thermoelectric pneumatic cell in the field of soft robotics, and provides new ideas for future research on miniaturized and intelligent bionic robots.