Worm-like robotic locomotion in flexible environment

D Zarrouk, I Sharf, M Shoham

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


Miniature crawling robots for medical purposes have been the issue of many studies in the past decade. The main challenge of this type of locomotion is the high flexibility of the tissue of biological vessels combined with the usually low friction coefficients. However, little has been done in the field of analyzing the interaction between the tissue and the robot. In a previous study, we presented the influence of the local compliance effects on the locomotion and developed the efficiency as a function of the number of cells, friction coefficients and tangential compliance. In this study we include the influence of the structural compliance on the locomotion analysis of two-cell worm robot.
Original languageEnglish GB
Title of host publicationAdvances in Robot Kinematics: Motion in Man and Machine
EditorsJ. Lenarcic , M. Stanisic
Number of pages9
ISBN (Electronic)978-90-481-9262-5
ISBN (Print)978-90-481-9261-8
StatePublished - 2010


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