Currently, soft robotics technologies are creating the means of robotic abilities and are
required for the development of biomimetic robotics. In recent years, earthworm-inspired soft …

Robotic locomotion in subterranean environments is still unsolved, and it requires innovative
designs and strategies to overcome the challenges of burrowing and moving in unstructured …

Agility and trajectory control are two desirable features for robotics, but they become very
challenging for soft robots without rigid structures to support rapid manipulations. Here, a …

Soft-bodied organisms such as annelids may exploit body compliance using their
hydrostatic skeletons and muscles to burrow in granular substrates. In this letter, we …

Earthworm-like peristaltic locomotion has been implemented in> 50 robots, with many
potential applications in otherwise inaccessible terrain. Design guidelines for peristaltic …

Earthworms can move beneath soil by expanding parts of their bodies radially; bristles
called setae work as anchors during surface locomotion but their efficacy during subsurface …

Earthworms (Lumbricus terrestris) are characterized by soft, highly flexible and extensible
bodies, and are capable of locomoting in most terrestrial environments. Previous studies of …

This article presents a multimodal steerable earthworm-inspired soft robot based on vacuum
and positive pressure powered pneumatic actuators capable of crawling both inside …

Inspired by earthworms, soft robots have demonstrated locomotion using segments with
coupled length-wise elongation and radial contraction. However, peristaltic turning has …

It is challenging to perform system identification on soft robots due to their underactuated,
high-dimensional dynamics. In this work, we present a data-driven modeling framework …