RESUMEN

This paper considers the design, manufacture, and testing of a prototype "soft-stiff" worm-inspired robot referred to herein, as the PneumaticallyActuated PeristaLtic Advancing Modular (PALAM) robot. The robot has a modular structure, mimicking the segmented nature of earthworms, and each segment is individually actuated by a set of three pneumatic artificial muscles (PAMs). The PAMs contract when inflated by pressurised air, generating a pulling force and fulfilling the role of biological muscles in the robot. The PAMs are made from the elastomer silicone rubber, which affords the robot flexibility and enables a wide range of real-life applications. A control-system is designed which can inflate any PAM on demand, and hence replicate the peristaltic motion of earthworms in the PALAM robot. Finally, this paper discusses a successful, low-cost, and widely accessible approach for the manufacture of the PAMs utilised herein. The PAMs can be scaled dimensionally and made from different materials with varying mechanical properties and behaviours, meaning that they are suitable for use in a wide range of robotics applications.