Gait generation considering dynamics for artificial segmented worms

This paper deals with terrestrial worm-like locomotion systems living in a straight line. They are modeled as chains of mass points having ground interaction via spikes which make the velocities unidirectional. A method is presented to construct gaits with any desired time pattern of resting mass points (which are acted on by the propulsive forces). Taking the dynamics into consideration, conclusions about the choice and shift of gaits in connection with actuator data are given.

► Terrestrial worm-like locomotion systems are considered in this paper.
► The model is a chain of linked mass points having ground contact by spikes.
► The spikes should make the velocity of each mass point unidirectional.
► A gait construction algorithm ensures any desired pattern of resting mass points.
► In contrast to others, this algorithm considers dynamics and gives hints to gait shifts.