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Dr. Quinn
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Continuous Wave Peristaltic Locomotion
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We have developed several innovative designs for a new kind of robot that uses peristalsis, the same method of locomotion earthworms use. This method of locomotion is particularly effective in constrained spaces, and although the motion has been studied for some time, it has not been effectively or accurately implemented in a robotic platform. A new kinematic model and 2D simulation help explain the limitations of discrete actuators acting on large segments to create this motion. In contrast, this prototype uses a continuous braided mesh exterior to produce waves of motion along the body of the robot.
A paper on the design of the robot was recently published in the International Journal of Robotics Research. The final version is available here, and the first draft is available here if you do not have a subscription to the journal.
Our most recent publication on a soft body controller can be found here.
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Our Neuroscience Poster won First Place at this year's Research Showcase of Case Western Reserve University.
Click on the image for the full PDF.
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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. 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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