The annelid, which consists of several identical segments, exploits its soft structures to move effectively in complex natural environments. Elongation and shortening of different segments produce a reverse peristaltic wave while retractable setae generate a variable friction, enabling bidirectional crawling locomotion. Although several designs have applied soft technologies towards the construction of annelid-like robots, these robots do not exhibit the homonymous segmentation, reverse peristaltic wave and variable friction. This paper reports the development of an annelid-like soft robot based on an improved dielectric elastomer (DE) minimum energy structure actuator to have these annelidan features. Each biomimetic segment of the robot is supported by a polyethylene terephthalate (PET) frame adhered to the DE actuator. The DE actuator induces segment elongation or shortening, which causes silica gel pads attached to the PET frame to contact or separate from the ground, produc...

中文翻译：

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使用介电弹性体执行器的类类似于蠕虫的蠕动爬行机器人的开发。

由几个相同的部分组成的annelid利用其柔软的结构在复杂的自然环境中有效移动。不同节段的伸长和缩短产生反向蠕动波，而可伸缩的刚毛产生可变的摩擦力，从而实现双向爬行运动。尽管有几种设计将软技术应用到类Annelid机器人的构造中，但这些机器人并没有表现出同质分割，反向蠕动波和可变摩擦力。本文报道了一种基于类人猿的软机器人的开发，该机器人基于改进的介电弹性体（DE）最小能量结构致动器，具有这些类人猿的特征。机器人的每个仿生部分均由粘附在DE执行器上的聚对苯二甲酸乙二醇酯（PET）框架支撑。