Walking, jumping, rolling, flying, swimming – robotic locomotion is limited only by the imagination of the inventor. [Roger Rabbit] apparently has a pretty vivid imagination, because he’s building robots that move like worms.
Version 1 of [Roger]’s robot is only semi-vermiform and is more of tube climber. It has a pair of 3D-printed pantographs that expand and contract with servos and move along the robot’s axis on a stepper-driven lead screw. An Arduino reads sensors and coordinates the expansion of the pantographs to grip the internal diameter of a pipe and push the worm-bot along. It’s a slow but effective way to get around in the limited confines of a pipe.
The next iteration, dubbed [Wolly], is much more worm-like and not restricted to pipe-running. It has four expandable triangular frames connected to each other with rack-and-pinion backbones. The first frame contracts, the racks push it forward, it expands, the next contracts, and soon it’s doing the worm across the floor. Still slow, but pretty neat to watch, and you can see how it can be steered. It might even be able to roll around its long axis, and it’d make a decent tube climber as well.
This creepy autonomous worm-bot seems very similar to [Wolly], but aside from that we haven’t covered too many robots like these. There’s a lot of thought and effort in these worm-bots, and we’re keen to see where [Roger] takes this unique robot body plan.
6 thoughts on “Robot Does The Worm To Get Around”
and another animated gif added to adblock…
Well…. it is good to know what a Gerbil/Hamster Mecha looks like. *urp*
although an interesting topic all the same…
That worm needs a very very big apple.
New York beware!
This is also rerered to as “concertina locomotion” by hepatologists. Energetic studies show that it takes more calories per meter to use concertina locomotion than either sidewinding or lateral undulation, however it is the most linear,
I gotta get one of those for my girlfriend.
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