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Related Experiment Video

Updated: Sep 6, 2025

Studying the Neural Basis of Adaptive Locomotor Behavior in Insects

Studying the Neural Basis of Adaptive Locomotor Behavior in Insects

Published on: April 13, 2011

Bidirectional Locomotion of Soft Inchworm Crawler Using Dynamic Gaits.

Liang Du¹, Shugen Ma², Keisuke Tokuda²

¹Shanghai Robotics Institute, Shanghai University, Shanghai, China.

Frontiers in Robotics and AI

|July 5, 2022

Summary

This summary is machine-generated.

This study presents a soft inchworm robot capable of versatile, bidirectional locomotion using body deformation for friction control. This simple system achieves agile movement with minimal actuation, showcasing soft structure vibrations for robotic tasks.

Keywords:

DEA bidirectional locomotion friction force control inchworm locomotion soft robot

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Last Updated: Sep 6, 2025

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Published on: January 15, 2016

Area of Science:

Robotics
Soft Robotics
Biomimetic Engineering

Background:

Inchworm locomotion is a simple yet effective natural gait for mobile robots.
Achieving agile, versatile locomotion in inchworm robots typically requires complex actuation and control.
Friction manipulation is key for effective inchworm-like movement.

Purpose of the Study:

To develop a soft inchworm robot with versatile, bidirectional locomotion.
To realize locomotion through a simple, body-deformation-based friction control system.
To demonstrate the use of soft structure vibrations for robotic locomotion.

Main Methods:

Integrated two types of differential friction forces into a soft, beam-like robot body.
Utilized cyclical actuation and body deformation to generate dynamic gaits.
Developed and validated amplitude-based and frequency-based locomotion control schemes.
Performed theoretical simulations and prototype experiments.

Main Results:

Successfully achieved bidirectional locomotion using body deformation for friction control.
Demonstrated versatile locomotion with a simple system configuration and minimal actuation.
Generated two distinct locomotion gaits controlled by the robot's dynamic deformation process.
Validated the proposed control schemes through simulations and experiments.

Conclusions:

Soft structure vibrations can be effectively used for challenging robotic tasks like locomotion.
The developed soft inchworm crawler offers a simple yet agile solution for versatile robotic movement.
Body deformation-based friction control is a viable method for achieving controlled locomotion in soft robots.