Earthworm

A SMA actuated artificial earthworm

Arianna Menciassi, S. Gorini, G. Pernorio, Paolo Dario

Citations: 159 • 2004

Design, fabrication and control of a multi-material-multi-actuator soft robot inspired by burrowing worms

Ariel A. Calderón, Joakin C. Ugalde, Juan Cristóbal Zagal, Néstor O. Pérez-Arancibia

Citations: 121 • 2016

Development of a peristaltic crawling robot using magnetic fluid on the basis of the locomotion mechanism of the earthworm

Norihiko Saga, Taro Nakamura

Citations: 116 • 2004

An earthworm-like modular soft robot for locomotion in multi-terrain environments

Riddhi Das, Saravana Prashanth Murali Babu, Francesco Visentin, Stefano Palagi, Barbara Mazzolai

Citations: 115 • 2023

Development of a biomimetic miniature robotic crawler

Arianna Menciassi, Dino Accoto, S. Gorini, Paolo Dario

Citations: 103 • 2006

An earthworm-inspired soft robot with perceptive artificial skin

Ariel A. Calderón, Joakin C. Ugalde, Longlong Chang, Juan Cristóbal Zagal, Néstor O. Pérez-Arancibia

Citations: 85 • 2019

Development of Underwater Drilling Robot Based on Earthworm Locomotion

Keita ISAKA, Kazuki Tsumura, Tomoki Watanabe, Wataru Toyama, Makoto Sugesawa, Yasuyuki YAMADA, Hiroshi Yoshida, Taro Nakamura

Citations: 67 • 2019

Evaluation of the critical stroke of an earthworm-like robot for capsule endoscopes

Jiwoon Kwon, Sukho Park, Jong‐Oh Park, Byungkyu Kim

Citations: 50 • 2007

An Analysis of Peristaltic Locomotion for Maximizing Velocity or Minimizing Cost of Transport of Earthworm-Like Robots

Akhil Kandhari, Yifan Wang, Hillel J. Chiel, Roger D. Quinn, Kathryn A. Daltorio

Citations: 50 • 2020

The development of an in-pipe microrobot applying the motion of an earthworm

Masato Takahashi, Isao Hayashi, N. Iwatsuki, Koichi Suzumori, Noboru OHKI

Citations: 50 • 2002

Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion

Taro Nakamura, Takashi Kato, Tomohide Iwanaga, Yoichi Muranaka

Citations: 34 • 2006

Development of a New Multi-cavity Pneumatic-driven Earthworm-like Soft Robot

Zhijie Tang, Jiaqi Lu, Zhen Wang, Gaoqian Ma, Weiwei Chen, Hao Feng

Citations: 33 • 2020

Design of a new air pressure perception multi-cavity pneumatic-driven earthworm-like soft robot

Zhijie Tang, Jiaqi Lu, Zhen Wang, Weiwei Chen, Hao Feng

Citations: 31 • 2019

Actuation and design innovations in earthworm-inspired soft robots: A review

Jianbin Liu, Pengcheng Li, Siyang Zuo

Citations: 31 • 2023

Scissor mechanisms enabled compliant modular earthworm-like robot: Segmental muscle-mimetic design, prototyping and locomotion performance validation

Yudong Luo, Na Zhao, Yantao Shen, Kwang J. Kim

Citations: 31 • 2016

The Development of an In-pipe Microrobot Applying the Motion of an Earthworm.

Masaki Takahashi, Iwao HAYASHI, Noboru OHKI

Citations: 31 • 1995

A 3D printed hydrostatic skeleton for an earthworm-inspired soft burrowing robot

Ryuma Niiyama, Kazuma Matsushita, Masahiro Ikeda, Keung Or, Yasuo Kuniyoshi

Citations: 28 • 2022

Earthworm-Inspired Multimodal Pneumatic Continuous Soft Robot Enhanced by Winding Transmission

Jianbin Liu, Pengcheng Li, Haitao Liu, Tian Huang

Citations: 25 • 2025

Analysis of earthworm-like robotic locomotion on compliant surfaces

David Zarrouk, Inna Sharf, Moshe Shoham

Citations: 22 • 2010

Study on peristaltic crawling robot using artificial muscle actuator

Norihiko Saga, Taro Nakamura, Satoshi Ueda

Citations: 22 • 2004