{'fraction_non_alphanumeric': 0.02066115702479339, 'fraction_numerical': 0.005509641873278237, 'mean_word_length': 4.9105691056910565, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 1, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Development of a Peristaltic Crawling Robot Using Planar Link Mechanisms

The field of bio‐mechanisms, which develops new machines that use motion and control of organisms as a model, is attracting attention. We examined the peristaltic crawling of an earthworm as a transport function in place of wheels or ambulation, and have developed a robot running inside a tube. In this robot, a joint corresponding to the earthworm's segment is driven by a DC motor. This paper presents the experimental result of the peristaltic crawling of an actual earthworm and the evaluation result of the transport mechanism of a prototype robot. Copyright © 2007 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.