Peristaltic Motion Enabled by Pneumatic Artificial Muscles (PAMs) as Structural "Soft-Stiff" Actuators in a Modular Worm-Inspired Robot.

This paper considers the design, manufacture, and testing of a prototype "soft-stiff" worm-inspired robot referred to herein, as the neumaticallyctuated Peristatic dvancing odular (PALAM) robot. The robot has a modular structure, mimicking the segmented nature of earthworms, and each segment is individually actuated by a set of three pneumatic artificial muscles (PAMs). The PAMs contract when inflated by pressurised air, generating a pulling force and fulfilling the role of biological muscles in the robot.