Bioinspired Setae for Soft Worm Robot Locomotion

This paper presents the development and analysis of a soft worm robot with a bio-inspired setae (bristles) that exhibits efficient locomotion using anisotropic friction. The worm robot is made of elastic braided mesh. A novel method of using conductive thread as the driving tendons as a length detection sensor is employed. An artificial form of setae, inspired by the setae of the biological earthworm, is presented, that is passively regulated and engaged when the worm robot compresses so that it creates a form of anisotropic friction, allowing forward motion only. The result is a single segment worm robot with forward locomotion capability. The design of the setae structure and the mesh robot body, its controlled fabrication process, the properties of the friction produced by the artificial setae, an analysis of the efficiency of the locomotion are each introduced in this paper.