Abstract
Historically, many mobile robots for terrestrial use have either been wheeled, tracked or legged. However, some robots can locomote using body motions; not wheels, tracks or legs. These robots have been developed based on locomotor mechanism of limbless animals such as snakes. Prior work of snake robots reveals several serpentine locomotor efforts. On the other hand, there is a flatworm having flattened form and soft body such as a planarian, a polyclad and a trichoplax. The motivation for this work is the design and control of limbless robots inspired by flatworms. In this report, we propose configuration of the mechanical model of flat-formed robot. Then, we report the result of the dynamics simulation on biological or non-biological locomotion and the design of joint mechanism.
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