Peristaltic locomotion with antagonistic actuators in soft robotics

free-downloadS Seok, CD Onal, R Wood… – Robotics and …, 2010 –

This paper presents a soft robotic platform that exhibits peristaltic locomotion. The
design principle is based on the unique antagonistic arrangement of radial/circular and longitudinal
muscle groups of Oligochaeta. Sequential antagonistic motion is achieved in a flexible