We have developed several innovative designs for a new kind of robot that uses a continuous wave of peristalsis for locomotion, the same method that earthworms use. Because constant-velocity peristaltic waves form due to accelerating and decelerating segments, it has been often assumed that this motion requires strong anisotropic ground friction. However, our analysis shows that with uniform, constant velocity waves, the forces that cause accelerations within the body sum to zero. Instead, transition timing between aerial and ground phases plays a critical role in the amount of slippage, and the final robot speed.
Stop breadboarding and soldering – start making immediately! Adafruit’s Circuit Playground is jam-packed with LEDs, sensors, buttons, alligator clip pads and more. Build projects with Circuit Playground in a few minutes with the drag-and-drop MakeCode programming site, learn computer science using the CS Discoveries class on code.org, jump into CircuitPython to learn Python and hardware together, or even use Arduino IDE. Circuit Playground Express is the newest and best Circuit Playground board, with support for MakeCode, CircuitPython, and Arduino. It has a powerful processor, 10 NeoPixels, mini speaker, InfraRed receive and transmit, two buttons, a switch, 14 alligator clip pads, and lots of sensors: capacitive touch, IR proximity, temperature, light, motion and sound. A whole wide world of electronics and coding is waiting for you, and it fits in the palm of your hand.