Locomotion of earthworm-like metameric robots results from shape changes of deformable segments. Morphologically, the segments could stretch, contract or bend by changing their states. Periodic shape changes are recognized as gaits of the robots. Robots could employ different gaits for different locomotion tasks. However, earthworm-like robots generally possess a number of independent segments and their hyper-redundant morphology (Chirikjian G S and Burdick J W 1995 IEEE Trans. Robot. Autom. 11 781–93) poses a challenge to gait planning for their locomotion. Hence, the goal of this paper is to establish a framework of in-plane gait planning for earthworm-like robots. To this end, a generic model of earthworm-like robots modelled in our prior work (Zhan X et al 2019 Int. J. Robot. Res. 38 1751–1774) is firstly reviewed and in-plane gaits of the robot are parameterized by adopting the principle of retrograde peristaltic wave (Quillin K J 1999 ...

中文翻译：

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使用遗传算法的蚯蚓状同色异谱机器人平面内步态规划。

类似蚯蚓的同色异谱机器人的运动是由可变形段的形状变化引起的。在形态上，这些片段可以通过改变它们的状态来拉伸、收缩或弯曲。周期性的形状变化被认为是机器人的步态。机器人可以为不同的运动任务采用不同的步态。然而，蚯蚓状机器人通常拥有许多独立的部分，它们的超冗余形态（Chirikjian GS 和 Burdick JW 1995 IEEE Trans. Robot. Autom. 11 781-93）对其运动的步态规划提出了挑战。因此，本文的目标是为蚯蚓状机器人建立一个平面内步态规划框架。为此，我们之前的工作（Zhan X et al 2019 Int. J. Robot. Res. 2019 Int. J. Robot. Res.