abstract
- This study presents a novel approach to modeling and analyzing peristaltic locomotion in soft robotics, with a focus on the interaction and significance of friction. Leveraging the biologically inspired design of earthworm locomotion, a mathematical model is developed to understand the dynamics of soft robotic movement. Key elements include the analysis of longitudinal muscle contractions and their impact on efficient navigation in confined spaces. The model incorporates factors such as frictional forces and pneumatic propulsion, providing insights into the mechanics of soft robot locomotion. The research further extends to the manufacturing of a prototype, highlighting the practical applications and potential enhancements in soft robotics design and control. This work lays a foundation for future studies to explore more complex frictional behaviors and variable spring constants, aiming to contribute on the field of soft robotics. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.