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The BEAM Bestiary is a BEAM Reference Library site.

BEAMbots patterned on inchworms and caterpillars

Inchworms propel themselves by setting up a "wave" motion through their body. In this way, the wave selectively moves part of the body forward, while keeping the rest of the body on the ground.

Here's an example of how to make a 4-motor inchworm (maximum angle between any two adjacent segments is 45 degrees) move:


For more information...

You definitely want to check out "The Motion Dynamics of Snakes and Worms."

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Page author: Eric Seale
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