{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,28]],"date-time":"2026-07-28T16:21:26Z","timestamp":1785255686940,"version":"3.55.0"},"reference-count":33,"publisher":"IOP Publishing","issue":"2","license":[{"start":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T00:00:00Z","timestamp":1776211200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T00:00:00Z","timestamp":1776211200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/iopscience.iop.org\/info\/page\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/100000147","name":"Division of Civil, Mechanical and Manufacturing Innovation","doi-asserted-by":"crossref","award":["2047330"],"award-info":[{"award-number":["2047330"]}],"id":[{"id":"10.13039\/100000147","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["iopscience.iop.org"],"crossmark-restriction":false},"short-container-title":["Bioinspir. Biomim."],"published-print":{"date-parts":[[2026,4,23]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>\n                    Biological inspiration offers new and innovative solutions to exploring challenging terrains, and implementations in bio-inspired robotics in turn offers insights to biological form and function. In particular, annelids (segmented worms), such as\n                    <jats:italic>Nereis<\/jats:italic>\n                    sp. (bristleworms), are useful subjects for their multi-modal locomotion through differing environments. This research aims to mimic key anatomical features of nereid worms in order to develop a new bio-inspired soft robot, named \u2018Polysectoid\u2019, that effectively moves through challenging terrains using both peristalsis and undulation. The muscles of the tendon-driven soft robots are longitudinal, and the robot has protruding structures mimicking parapodia and chaetae. Taking advantage of these features for both undulation and peristalsis required a new structural design to achieve both large bending motion and large diameter changes. Thus, the robot\u2019s body is constructed of many long strips of flexible polymer, connected with custom 3D-printed channel pieces. We compare effectiveness and efficiency of movements of the resulting robot on substrates with different textures and in confined spaces. Parapodia and chaetae improve robot performance, with different effects on different gaits and substrates. Peristalsis with long parapodia allows Polysectoid to stay on a straightforward trajectory even without steering control. On the other hand, undulation allows the robot to navigate well in tight spaces, such as sandwiched between parallel surfaces, even when the distance between the parallel substrates was reduced to 66% of the robot\u2019s diameter. This type of undulatory motion could have novel applications in inspections of confined spaces. As a detailed physical model, this design provides a platform to further examine the biomechanics of annelid-inspired locomotion and cascading neural pattern generator-based networks.\n                  <\/jats:p>","DOI":"10.1088\/1748-3190\/ae56c5","type":"journal-article","created":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T22:56:06Z","timestamp":1774392966000},"page":"026016","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Polysectoid: a hyperredundant soft-bodied robot for modeling the role of parapodia in undulation and peristalsis"],"prefix":"10.1088","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0009-0006-0244-6817","authenticated-orcid":true,"given":"Huy","family":"Pham","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Malyka","family":"Norville","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Christian","family":"Lee","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Indy D","family":"Sarma","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shon","family":"Ceballos","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Humzah","family":"Durrani","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-1815-6292","authenticated-orcid":true,"given":"Moey","family":"Rojas","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kelly M","family":"Dorgan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6994-1536","authenticated-orcid":true,"given":"Kathryn A","family":"Daltorio","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"266","published-online":{"date-parts":[[2026,4,15]]},"reference":[{"key":"bbae56c5bib1","doi-asserted-by":"publisher","first-page":"12","DOI":"10.1088\/1748-3190\/aaa342","type":"journal-article","article-title":"Body stiffness in orthogonal directions oppositely affects worm-like robot turning and straight-line locomotion","volume":"13","author":"Kandhari","year":"2017","journal-title":"Bioinsp. Biomim."},{"key":"bbae56c5bib2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-22979-9_3","type":"journal-article","article-title":"Worm-like robotic locomotion with a compliant modular mesh","author":"Horchler","year":"2015"},{"key":"bbae56c5bib3","doi-asserted-by":"publisher","first-page":"13","DOI":"10.3390\/biomimetics4010013","type":"journal-article","article-title":"Design and actuation of a fabric-based worm-like robot","volume":"4","author":"Kandhari","year":"2019","journal-title":"Biomimetics"},{"key":"bbae56c5bib4","author":"Rouse","year":"2022","type":"book"},{"key":"bbae56c5bib5","doi-asserted-by":"publisher","first-page":"113","DOI":"10.1007\/s10750-004-1409-x","type":"journal-article","article-title":"Muscular system in polychaetes (Annelida)","volume":"535\u2013536","author":"Tzetlin","year":"2005","journal-title":"Hydrobiologia"},{"key":"bbae56c5bib6","doi-asserted-by":"publisher","first-page":"1247","DOI":"10.1242\/jeb.056549","type":"journal-article","article-title":"The diversity of hydrostatic skeletons","volume":"215","author":"Kier","year":"2012","journal-title":"J. Exp. Biol."},{"key":"bbae56c5bib7","doi-asserted-by":"publisher","first-page":"9","DOI":"10.1242\/jeb.16.1.9","type":"journal-article","article-title":"Studies in animal locomotion: VIII. The kinetics of locomotion of nereis diversicolor","volume":"16","author":"Gray","year":"1939","journal-title":"J. Exp. Biol."},{"key":"bbae56c5bib8","doi-asserted-by":"publisher","first-page":"29","DOI":"10.1242\/jeb.27.1.29","type":"journal-article","article-title":"Of the movement of worms","volume":"27","author":"Chapman","year":"1950","journal-title":"J. Exp. Biol."},{"key":"bbae56c5bib9","doi-asserted-by":"publisher","first-page":"661","DOI":"10.1242\/jeb.202.6.661","type":"journal-article","article-title":"Kinematic scaling of locomotion by hydrostatic animals: ontogeny of peristaltic crawling by the earthworm lumbricus terrestris","volume":"202","author":"Quillin","year":"1999","journal-title":"J. Exp. Biol."},{"key":"bbae56c5bib10","first-page":"p 71","type":"book","article-title":"Peristaltic mechanisms","author":"Elder","year":"1980"},{"key":"bbae56c5bib11","doi-asserted-by":"publisher","first-page":"95","DOI":"10.1038\/nature09864","type":"journal-article","article-title":"Phylogenomic analyses unravel annelid evolution","volume":"471","author":"Struck","year":"2011","journal-title":"Nature"},{"key":"bbae56c5bib12","doi-asserted-by":"publisher","first-page":"245","DOI":"10.1111\/j.1469-7998.1967.tb04062.x","type":"journal-article","article-title":"Segmental musculature and parapodial movement of Nereis diversicolor and Nephthys hombergi (Annelida: Polychaeta)","volume":"153","author":"Mettam","year":"2009","journal-title":"J. Zool."},{"key":"bbae56c5bib13","doi-asserted-by":"publisher","DOI":"10.1098\/rsos.210541","type":"journal-article","article-title":"Muscular adaptations in swimming scale worms (Polynoidae, Annelida)","volume":"8","author":"Allentoft-Larsen","year":"2021","journal-title":"R. Soc. Open Sci."},{"key":"bbae56c5bib14","article-title":"Red Californian earth worm","author":"Hille","year":"2014","type":"other"},{"key":"bbae56c5bib15","article-title":"Metallic snake nereis pellagica","author":"Semenov","year":"2008","type":"other"},{"key":"bbae56c5bib16","doi-asserted-by":"crossref","DOI":"10.1109\/IROS55552.2023.10341586","type":"conference-proceedings","article-title":"Locomotion and obstacle avoidance of a worm-like soft robot","author":"Even","year":"2023"},{"key":"bbae56c5bib17","doi-asserted-by":"publisher","first-page":"308","DOI":"10.1109\/TRO.2012.2234311","type":"journal-article","article-title":"Salamandra robotica ii: an amphibious robot to study salamander-like swimming and walking gaits","volume":"29","author":"Crespi","year":"2013","journal-title":"IEEE Trans. Robot."},{"key":"bbae56c5bib18","first-page":"pp 42","type":"conference-proceedings","article-title":"A study on cascade design for CPG-based controller of a planar snake robot","author":"Dao","year":"2017"},{"key":"bbae56c5bib19","first-page":"p 1","type":"conference-proceedings","article-title":"Design and control of a cable driven articulated modular snake robot","author":"Racioppo","year":"2019"},{"key":"bbae56c5bib20","doi-asserted-by":"publisher","first-page":"1149","DOI":"10.3390\/mi13071149","type":"journal-article","article-title":"Equilibrium conformation of a novel cable-driven snake-arm robot under external loads","volume":"13","author":"Huang","year":"2022","journal-title":"Micromachines"},{"key":"bbae56c5bib21","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ad3ff8","type":"journal-article","article-title":"Nodes for modes: nodal honeycomb metamaterial enables a soft robot with multimodal locomotion","volume":"19","author":"Dikici","year":"2024","journal-title":"Bioinsp. Biomim."},{"key":"bbae56c5bib22","doi-asserted-by":"publisher","first-page":"27","DOI":"10.1007\/s11370-021-00399-y","type":"journal-article","article-title":"Tension reduction method for a modular cable-driven robotic arm with co-shared cables","volume":"15","author":"Wang","year":"2022","journal-title":"Intell. Serv. Robot."},{"key":"bbae56c5bib23","doi-asserted-by":"publisher","first-page":"560","DOI":"10.1089\/soro.2018.0080","type":"journal-article","article-title":"Turning in worm-like robots: the geometry of slip elimination suggests nonperiodic waves","volume":"6","author":"Kandhari","year":"2019","journal-title":"Soft Robot."},{"key":"bbae56c5bib24","article-title":"Tracker","author":"Hanson","type":"other"},{"key":"bbae56c5bib25","doi-asserted-by":"publisher","first-page":"273","DOI":"10.1016\/S0022-0981(98)00034-3","type":"journal-article","article-title":"Jointed setae - their role in locomotion and gait transitions in polychaete worms","volume":"228","author":"Merz","year":"1998","journal-title":"J. Exp. Mar. Biol. Ecol."},{"key":"bbae56c5bib26","doi-asserted-by":"publisher","first-page":"251","DOI":"10.3989\/scimar.2011.75n2251","type":"journal-article","article-title":"Revision of Hermodice Kinberg, 1857 (Polychaeta: Amphinomidae)","volume":"75","author":"Y\u00e1\u00f1ez-Rivera","year":"2011","journal-title":"Sci. Mar."},{"key":"bbae56c5bib27","doi-asserted-by":"publisher","first-page":"1658","DOI":"10.1093\/icb\/icab059","type":"journal-article","article-title":"Metachronal swimming with flexible legs: a kinematics analysis of the midwater polychaete tomopteris","volume":"61","author":"Daniels","year":"2021","journal-title":"Integr. Compar. Biol."},{"key":"bbae56c5bib28","doi-asserted-by":"publisher","first-page":"2757","DOI":"10.1242\/jeb.203.18.2757","type":"journal-article","article-title":"Ontogenetic scaling of burrowing forces in the earthworm lumbricus terrestris","volume":"203","author":"Quillin","year":"2000","journal-title":"J. Exp. Biol."},{"key":"bbae56c5bib29","first-page":"pp 59","type":"conference-proceedings","article-title":"Stable heteroclinic channels for slip control of a peristaltic crawling robot","volume":"vol 8064","author":"Daltorio","year":"2013"},{"key":"bbae56c5bib30","doi-asserted-by":"publisher","DOI":"10.3389\/felec.2025.1507644","type":"journal-article","article-title":"Stable heteroclinic channels for controlling a simulated aquatic serpentine robot in narrow crevices","volume":"6","author":"Mengers","year":"2025","journal-title":"Front. Electron."},{"key":"bbae56c5bib31","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/8\/3\/035003","type":"journal-article","article-title":"Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots","volume":"8","author":"Daltorio","year":"2013","journal-title":"Bioinsp. Biomim."},{"key":"bbae56c5bib32","article-title":"Towards peristatlic conduit as a solution for underground infrastructure","author":"Mills","year":"2025","type":"conference-proceedings"},{"key":"bbae56c5bib33","first-page":"pp 249","type":"book","article-title":"A synthetic nervous system with coupled oscillators controls peristaltic locomotion","author":"Riddle","year":"2022"}],"container-title":["Bioinspiration &amp; Biomimetics"],"original-title":[],"link":[{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae56c5","content-type":"text\/html","content-version":"am","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae56c5\/pdf","content-type":"application\/pdf","content-version":"am","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae56c5","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae56c5\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae56c5\/pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae56c5\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae56c5\/pdf","content-type":"application\/pdf","content-version":"am","intended-application":"similarity-checking"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae56c5\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T12:54:12Z","timestamp":1776257652000},"score":1,"resource":{"primary":{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/1748-3190\/ae56c5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,4,15]]},"references-count":33,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2026,4,15]]},"published-print":{"date-parts":[[2026,4,23]]}},"URL":"https:\/\/doi.org\/10.1088\/1748-3190\/ae56c5","relation":{},"ISSN":["1748-3182","1748-3190"],"issn-type":[{"value":"1748-3182","type":"print"},{"value":"1748-3190","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,4,15]]},"assertion":[{"value":"Polysectoid: a hyperredundant soft-bodied robot for modeling the role of parapodia in undulation and peristalsis","name":"article_title","label":"Article Title"},{"value":"Bioinspiration & Biomimetics","name":"journal_title","label":"Journal Title"},{"value":"paper","name":"article_type","label":"Article Type"},{"value":"\u00a9 2026 The Author(s). Published by IOP Publishing Ltd","name":"copyright_information","label":"Copyright Information"},{"value":"2025-12-11","name":"date_received","label":"Date Received","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2026-03-19","name":"date_accepted","label":"Date Accepted","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2026-04-15","name":"date_epub","label":"Online publication date","group":{"name":"publication_dates","label":"Publication dates"}}]}}