The PSA demonstrates two active configurations from a neutral state by switching the input source between positive and negative pressure.
Inspired by antagonistic muscle contractions and constant volume coelomic chambers observed in earthworms, we designed and developed a modular soft robot based on a peristaltic soft actuator (PSA). Robotic locomotion in subterranean environments is still unsolved, and it requires innovative designs and strategies to overcome the challenges of burrowing and moving in unstructured conditions with high pressure and friction at depths of a few centimeters.
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