A CPG‐Based Versatile Control Framework for Metameric Earthworm‐Like Robotic Locomotion (Adv. Sci. 14/2023)

Bioinspired Robots In article number 2206336, Qinyan Zhou, Jian Xu, and Hongbin Fang pioneer a neurobiologically inspired control architecture for earthworm-like robotic in-pipe locomotion. The distributed oscillators serve as a mapping between earthworm neural oscillations and robotic segment deformations, and the collective dynamics of the oscillator network is exploited to achieve complex gait patterns and better robotic locomotion performance, thus laying a solid foundation for attaining autonomy, polymorphism and adaptivity of metameric peristaltic locomotion.