{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,8,7]],"date-time":"2024-08-07T01:11:09Z","timestamp":1722993069486},"reference-count":9,"publisher":"Fuji Technology Press Ltd.","issue":"3","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robot. Mechatron.","JRM"],"published-print":{"date-parts":[[2006,6,20]]},"abstract":"<jats:p>Earthworm locomotion, called peristaltic crawling, requires less space than other types of movement, making it practical across irregular ground and inside narrow areas such as pipes and a thus a candidate for use with rescue and exploration robots. We developed a multiple-segment peristaltic crawling robot that uses servomotors. We discuss the basics of locomotion patterns, e.g., the length of longitudinal waves, period, friction force, and number of segments. We confirmed that robot movement resembled that of an actual earthworm and found in experiments that an appropriate period exists for the robot\u2019s peristaltic crawling and that speed tends to decrease with decreasing friction force.<\/jats:p>","DOI":"10.20965\/jrm.2006.p0299","type":"journal-article","created":{"date-parts":[[2016,4,14]],"date-time":"2016-04-14T02:18:46Z","timestamp":1460600326000},"page":"299-304","source":"Crossref","is-referenced-by-count":30,"title":["Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion"],"prefix":"10.20965","volume":"18","author":[{"given":"Taro","family":"Nakamura","sequence":"first","affiliation":[]},{"name":"Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan","sequence":"first","affiliation":[]},{"given":"Takashi","family":"Kato","sequence":"additional","affiliation":[]},{"given":"Tomohide","family":"Iwanaga","sequence":"additional","affiliation":[]},{"given":"Yoichi","family":"Muranaka","sequence":"additional","affiliation":[]}],"member":"8550","published-online":{"date-parts":[[2006,6,20]]},"reference":[{"key":"key-10.20965\/jrm.2006.p0299-1","unstructured":"M. Takahashi et al., \u201cThe Developed of an IN-pipe Micro-robot Applying the Motion of an Earthworm,\u201d J. JSPE, Vol.61, No.1, pp. 90-94, 1995 (in Japanese)."},{"key":"key-10.20965\/jrm.2006.p0299-2","doi-asserted-by":"crossref","unstructured":"N. Saga, and T. Nakamura, \u201cDevelopment of peristaltic crawling robot using magnetic fluid on the basis of locomotion mechanism of earthworm,\u201d Smart material and structures, Vol.13, No.3, pp. 566-569, 2004.","DOI":"10.1088\/0964-1726\/13\/3\/016"},{"key":"key-10.20965\/jrm.2006.p0299-3","unstructured":"N. Saga, and T. Nakamura, \u201cA Prototype of Peristaltic Robot Using Pneumatic Artificial Muscle,\u201d Intelligent autonomous system, No.8 (1), pp. 85-95, 2004."},{"key":"key-10.20965\/jrm.2006.p0299-4","doi-asserted-by":"crossref","unstructured":"T. Nakamura, N. Saga, and K. Yaegashi, \u201cDevelopment of Pneumatic Artificial Muscle based on Biomechanical Characteristics,\u201d Proceedings of IEEE International Conference on Industrial Technology Proceedings, pp. 729-734, 2003.","DOI":"10.1109\/ICIT.2003.1290746"},{"key":"key-10.20965\/jrm.2006.p0299-5","doi-asserted-by":"crossref","unstructured":"J. Zou, G. Yan, and Z. Gao, \u201cA micro creeping robot for colonoscopy based on the earthworm,\u201d J. of Medical Engineering & Technology, Vol.29, No.1, pp. 1-7, 2005.","DOI":"10.1080\/03091900410001662341"},{"key":"key-10.20965\/jrm.2006.p0299-6","doi-asserted-by":"crossref","unstructured":"T. Maeno, N. Yamazaki, and T. Tachikawa, \u201cFrictional Driving Mechanism Based on Wave Propagation (1stReport, Measurement and Simulation of Earthworm Locomotion),\u201d Trans. JSME(C), Vol.62, No.603, pp. 142-149, 1996 (in Japanese).","DOI":"10.1299\/kikaic.62.4264"},{"key":"key-10.20965\/jrm.2006.p0299-7","doi-asserted-by":"crossref","unstructured":"M. Tsuchiya, T. Maeno, and N. Yamazaki, \u201cFrictional Driving Mechanism Based on Wave Propagation (2ndReport, Model of Earthworm-like Structure Considering Deformation of the Body),\u201d Trans. JSME(C), Vol.65, No.636, 1, pp. 3328-3335 (in Japanese).","DOI":"10.1299\/kikaic.65.3328"},{"key":"key-10.20965\/jrm.2006.p0299-8","unstructured":"H. Sugi, \u201cEvolution of Muscle Motion,\u201d the University of Tokyo Press, p. 72, 1977 (in Japanese)."},{"key":"key-10.20965\/jrm.2006.p0299-9","unstructured":"R. M. Alexander, \u201cExploring Biomechanics, Animals in Motion,\u201d W. H. Freeman and Company, 1992."}],"container-title":["Journal of Robotics and Mechatronics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.fujipress.jp\/main\/wp-content\/themes\/Fujipress\/phyosetsu.php?ppno=ROBOT001800030010","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,6]],"date-time":"2019-09-06T12:38:29Z","timestamp":1567773509000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.fujipress.jp\/jrm\/rb\/robot001800030299"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2006,6,20]]},"references-count":9,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2006,6,20]]},"published-print":{"date-parts":[[2006,6,20]]}},"URL":"https:\/\/doi.org\/10.20965\/jrm.2006.p0299","relation":{},"ISSN":["1883-8049","0915-3942"],"issn-type":[{"type":"electronic","value":"1883-8049"},{"type":"print","value":"0915-3942"}],"subject":[],"published":{"date-parts":[[2006,6,20]]}}}