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Related Experiment Video

Updated: May 19, 2026

C. elegans Tracking and Behavioral Measurement

C. elegans Tracking and Behavioral Measurement

Published on: November 17, 2012

Modeling of caterpillar crawl using novel tensegrity structures.

O Orki¹, A Ayali, O Shai

¹School of Mechanical Engineering, Faculty of Engineering, Tel Aviv University, Tel Aviv, Israel. omerorki@tau.ac.il

Bioinspiration & Biomimetics

|August 9, 2012

Summary

This study models caterpillar locomotion using Assur tensegrity structures, demonstrating controllable softness and constant internal forces during simulated growth. The research suggests crawling requires similar energy to resting for caterpillars.

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Area of Science:

Robotics
Biomechanical Engineering
Computational Biology

Background:

Caterpillars exhibit complex locomotion despite simple nervous systems.
Understanding caterpillar movement can inform robotic design.
Tensegrity structures offer unique mechanical properties for bio-inspired robots.

Purpose of the Study:

To simulate 2D caterpillar locomotion using Assur tensegrity structures.
To investigate the relationship between segment softness, internal forces, and growth.
To explore the energetic cost of caterpillar locomotion.

Main Methods:

Developed a 2D caterpillar simulation employing Assur tensegrity structures for each segment.
Modeled mechanical properties and control schemes inspired by biological caterpillars.
Implemented a control scheme allowing for adjustable segment rigidity (softness/rigidity).

Main Results:

The simulation successfully mimicked caterpillar locomotion.
Assur tensegrity structures provided controllable segment softness.
The model maintained near-constant internal forces irrespective of size, analogous to biological caterpillars.
Simulated growth showed a 10,000-fold increase in mass with constant internal pressure.

Conclusions:

Assur tensegrity structures are suitable for creating bio-mimetic robots with controllable softness.
Caterpillar internal pressure regulation is size-independent.
Locomotion in caterpillars may not be significantly more energy-intensive than resting.