This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The robot is designed to replicate the unique locomotion mechanisms of earthworms, which enable them to move through narrow and complex environments with ease. The robot consists of multiple segments, each with its own set of actuators, that are connected through rigid plastic joints, allowing for increased adaptability and flexibility in navigating different environments. The robot utilizes proprioceptive sensing and control algorithms to detect and avoid obstacles in real-time while maintaining efficient locomotion. The robot uses a pneumatic actuation system to mimic the circumnutation behavior exhibited by plant roots in order to navigate through complex environments. The results demonstrate the capabilities of the robot for navigating through cluttered environments, making this development significant for various fields of robotics, including search and rescue, environmental monitoring, and medical procedures.

翻译：本文提出了一种兼具高效运动与避障能力的软体蚯蚓机器人。该机器人旨在复现蚯蚓独特的运动机制，使其能够轻松穿越狭窄复杂的环境。机器人由多个通过刚性塑料关节连接的独立驱动段组成，这增强了其适应不同环境并灵活导航的能力。机器人利用本体感知与控制算法，在保持高效运动的同时实时检测并避开障碍物。其气动驱动系统模拟了植物根系的回旋转头行为，从而实现对复杂环境的穿越。实验结果展示了该机器人在杂乱环境中导航的能力，这一进展对机器人学的多个领域——包括搜索救援、环境监测及医疗手术——具有重要意义。