Study on Turning Movement of Wire-driven Earthworm Robot

In this paper, we propose a Wire-driven Earthworm Robot that uses the peristaltic motion of worms to turn. The robot with a low height and small width is needed to inspect narrow spaces such as ceilings. We focused on the peristaltic motion of earthworms, which can move freely even in a narrow environment, and developed the robot that can turn and move by differentiating the tension of the left and right wires. As an evaluation experiment, a turning experiment using this method was conducted to determine the width required for turning.