SoftWorm: A Revolutionary Form of Locomotion
Video of our first prototype and simulations.
Our Neuroscience Poster.
Click on the image for the full PDF.
SoftWorm Takes Honorable Mention two years in a row at Research Showcase!
Click on the image for the full PDF.
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Movies
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| 3D animation of pipe crawling upstream with only one actuator.
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| Animation showing peristaltic motion in 3D.
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| Closeup animation cutaway view of two peristaltic waves.
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| Animation of turning behavior in a pipe.
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| Closeup animation of SoftWorm pouring itself through a 1 cm hole.
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Images
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| SoftWorm uncoiling and pouring itself under a 1 cm high doorway.
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SoftWorm coiled up into a 7 cm diameter ball.
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Four stills from an animation of SoftWorm pouring through a 1 square centimeter hole. Fluid that reaches the rear of the robot passes through the inner lumen to the front of the robot on the other side of the hole.
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Cut away view of a peristaltic wave.
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Perpendicular cut away view of SoftWorm without a peristaltic wave.
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Cut away view of a peristaltic wave.
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Other Information
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| Letter of Support from Rockwell Automation.
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Quad chart for proposed SoftWorm.
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The SoftWorm Team
Alexander Boxerbaum is a graduate student at Case Western Reserve University, seeking a Ph.D. in Mechanical Engineering in the Biologically Inspired Robotics Lab under Roger Quinn. He recently developed DAGSI Whegs for his Masters Thesis, and spends his little free time documenting Cleveland through time lapse photography.
Hillel J. Chiel, Ph.D. is Professor of Biology, Neurosciences and Biomedical Engineering at
Case Western Reserve University.
Roger D. Quinn, Ph.D. is the Arthur P. Armington
Professor of Engineering at Case Western Reserve University and Director of the Biorobotics Lab since 1990.
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Copyright 2009 Case Western Reserve University, Dept. of Mechanical and Aerospace Engineering.
All rights reserved.
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