Abstract
Attention is currently focused on earthworm's locomotion mechanism is called a peristaltic crawling. The amount of space required by this locomotion mechanism is smaller than that of other locomotion mechanisms. Further, it is possible that the locomotion mechanism move on unleveled ground and inside a tube. In this study, we developed the peristaltic crawling robot that can run not only the in a tube but also on a plane surface. And it can actively and passively change the direction. Further we discussed the robot can adapt to variable environment by applying high extension and contraction units to the robot.
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