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The development of versatile robots capable of traversing challenging andirregular environments is of increasing interest in the field of robotics, andmetameric robots have been identified as a promising solution due to theirslender, deformable bodies. Inspired by the effective locomotion of earthworms,earthworm-like robots capable of both rectilinear and planar locomotion havebeen designed and prototyped. While much research has focused on developingkinematic models to describe the planar locomotion of earthworm-like robots,the authors argue that the development of dynamic models is critical toimproving the accuracy and efficiency of these robots. A comprehensive analysisof the dynamics of a metameric earthworm-like robot capable of planar motion ispresented in this work. The model takes into account the complex interactionsbetween the robot's deformable body and the forces acting on it and draws onthe methods previously used to develop mathematical models of snake-likerobots. The proposed model represents a significant advancement in the field ofmetameric robotics and has the potential to enhance the performance ofearthworm-like robots in a variety of challenging environments, such asunderground pipes and tunnels, and serves as a foundation for future researchinto the dynamics of soft-bodied robots.

Dynamic models for Planar Peristaltic Locomotion of a Metameric Earthworm-like Robot