This paper presents a soft robot which can imitate the crawling locomotion of an earthworm. Locomotion of the robot can be achieved by expanding and contracting the body that is made of flexible material. Earthworm-like soft robot can agilely get through cramped space and has strong ability of self-adaption to an unstructured environment. A link of the earthworm-like robot is combined with three modules, and the robot is combined with multiple links. Experiments on a single module, two-links and three-links show that the soft robot can move and bend on condition of modules extension and contraction in a specified gait. In the process of earthworm-like robot movement, the internal pressure of each cavity is detected and adjusted in real-time to change the moving and bending state of earthworm-like soft robot to realize the ability of self-adaption to unstructured environment. The air pressure perception earthworm-like soft robot shows a great prospect in many complicate environment such as pipeline detection.

中文翻译：

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新型气压感知多腔气动类soft软机器人的设计

本文提出了一种可以模仿worm爬行运动的软机器人。机器人的运动可以通过伸缩由柔性材料制成的身体来实现。类似于-的软机器人可以敏捷地穿越狭窄的空间，并且具有很强的自适应能力，可以适应非结构​​化的环境。worm式机器人的一个链接与三个模块结合在一起，而机器人则与多个链接相结合。在单个模块，两个链接和三个链接上进行的实验表明，软机器人可以在模块以指定步态伸缩的情况下移动和弯曲。在worm类机器人运动的过程中，通过实时检测和调节每个腔体的内部压力，改变soft类软机器人的运动和弯曲状态，实现对非结构化环境的自适应能力。气压感知类earth的软机器人在许多复杂的环境中（例如管道检测）具有广阔的前景。