A continuous model for the peristaltic locomotion of compressible and incompressible rod-like bodies is presented. Using Green and Naghdi’s theory of a directed rod, incompressibility is enforced as an internal constraint. A discussion on muscle actuation models for a single continuum is included. The resulting theory is demonstrated in a simulation of a soft-robotic device. In addition, a calibration of parameters is performed and the incompressible rod is validated against a biomimetic model of earthworm locomotion.

中文翻译：

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应用于蠕虫和软机器人的蠕动运动的连续模型。

提出了可压缩和不可压缩棒状体蠕动运动的连续模型。使用格林和纳格迪的定向杆理论，不可压缩性被强制作为内部约束。包括对单一连续体的肌肉驱动模型的讨论。由此产生的理论在软机器人设备的模拟中得到了证明。此外，还进行了参数校准，并针对蚯蚓运动的仿生模型验证了不可压缩杆。