A controller for continuous wave peristaltic locomotion

While soft-bodied animals have an extraordinarily diverse set of robust behaviors, soft-bodied robots have not yet achieved this flexiblity. In this paper, we explore controlling a truly continuously deformable structure with a CPG-like network. Our recently completed soft wormlike robot with a continuously deformable outer mesh, along with a continuum analysis of peristalsis, has suggested the neural control investigated here. We use a Wilson-Cowan neuronal model in a continuum arrangement that mirrors the arrangement of muscles in an earthworm. We show that such a system is well suited to incorporate sensory input and can create both rhythmic and nonrhythmic activity. The system can be controlled using straightforward descending signals whose effects are largely decoupled and can modulate the properties from CPG-like behaviors to static waves. This approach will be useful for designing robotic systems that express multiple adaptive behavioral modes.