The Flatworm-like Mesh Robot WORMESH-II: Steering Control of Pedal Wave Locomotion
G.V.C. Rasanga,K. Hirashi,R. Hodoshima,S. Kotosaka,G.V.C. Rasanga,K. Hirashi,R. Hodoshima,S. Kotosaka
WORMESH is a unique robot concept inspired by flatworm locomotion and its key feature is the use of multiple traveling waves for locomotion. This paper presents the steering method for anisotropic module configuration (AMC) of WORMESH-II based on the kinematics of skid steering of mobile robots. AMC of WORMESH-II used two parallel pedal waves to generate locomotion. The kinematic model of WORMESH-...
