Decentralized control scheme for adaptive earthworm locomotion using continuum-model-based analysis

Crawling locomotion has been the focus of attention in the field of robotics because various applications of it are expected. However, the design methodologies for crawling robots, which can be applied in various environments, are not yet established. Therefore, we considered an earthworm as our model and employed an unconventional approach: we analyzed the motion of the earthworm with a continuum model and derived an optimal force distribution for its efficient propulsion, based on which we proposed an autonomous decentralized control scheme. The validity of the proposed control scheme was confirmed via simulations.