SoftWorm II Structure

SoftWorm II is a peristaltically-driven robot using a 3D printed mesh for an external structure. Each truss can rotate freely about a pin and there are four degrees of freedom at every intersection. The robot moves by contracting or expanding actuators along the length to simulate the undulation and movement of an earthworm. Students Hillary Bunnelle, Maria Lorkowski, and Ronald Leibach worked on this research project in the CWRU Biologically Inspired Robotics Laboratory.