Worm-like Locomotion Systems (WLLS) - Theory, Control and Prototypes

Most of biologically inspired locomotion systems are dominated by walking machines pedal locomotion. A lot of biological models (bipedal up to octopedal) are studied in the literature and their constructions were transferred by engineers in different forms of realization. Non-pedal forms of locomotion show their advantages in inspection techniques or in applications to medical technology for diagnostic systems and minimally invasive surgery (endoscopy). These areas of application were considered by (Choi et al., 2002), (Mangan et al., 2002), (Menciassi & Dario, 2003). Hence, this type of locomotion and its drive mechanisms are current topics of main focus. In this chapter we discuss the problem of developing worm-like locomotion systems, which have the earthworm as a living prototype, from two points of view: • modelling and controlling in various levels of abstraction, • designing of prototypes with classical and non-classical forms of drive.

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