Robotic earthworm using electro-conjugate fluid

Kenichiro Tokida, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This study develops a novel robotic earthworm using electro-conjugate fluid (ECF), which generates a jet flow with high DC voltage. The robot, inside of which is filled up with ECF, has two ECF jet generators sandwiched with three flexible silicone rubber tubes (all components are located in series). When applying an appropriate electrical input to each jet generator, the robot generates a peristaltic motion, which may push the body forward. The robot is 60 mm long with the diameter of 6 mm. The experimental results confirm the robot moves in a 6.5 mm acrylic resin pipe with 0.13 mm/s.

Original languageEnglish
Pages (from-to)1643-1651
Number of pages9
JournalInternational Journal of Applied Electromagnetics and Mechanics
Issue number3-4
Publication statusPublished - 2010 Dec 24

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Mechanics of Materials
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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