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。该机器人通过仿生蚯蚓独特的运动机制，使其能够轻松穿越狭窄复杂环境。机器人由多个独立配备驱动器的节段构成，各节段通过刚性塑料关节连接，从而增强在不同环境中导航的适应性与灵活性。机器人利用本体感知与控制算法实时检测并规避障碍物，同时维持高效运动。为模拟植物根系在复杂环境中表现出的回旋转头运动行为，机器人采用气动驱动系统实现导航控制。实验结果表明该机器人具备穿越杂乱环境的能力，此项研究成果对搜索救援、环境监测及医疗手术等机器人领域具有重要价值。