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Annelidabot the Robotic Worm
Annelidabot is a robotic worm that simulates the real way a worm moves. It is constructed out of the RIS set, an expansion pack, and alot of ribbed hose!
About this creation
Annelidabot (ann uh lee’ duh bot) is a robotic worm. The name is derived from the organism’s scientific phylum name: Annelida (ann uh lee’ duh). Phylum Annelida contains only one type of organism; and that is the segmented worm. I had a written description of how the earthworm moved and this was all I needed to get me started.

To make Annelidabot mobile, I decided to use how a real earthworm moves because I knew that this could be relied on. One of the most amazing things about this invention is the fact that it can lift itself completely up off the ground. It takes a lot of torque and power to do this, which is why the main driving axle is run through 6 gears (each of them increasing the torque), and a worm gear in a gearbox. To move, it makes one of the “legs” go down (pushing the body upwards), then the other, moves the first leg back up, and then moves the other leg back up. During these liftings and lowerings, the legs will latch onto the carpet with my version of “setae”. In a worm, setae are little bristles all over the worm that hold onto their surroundings. My setae are, of course, passive. In my robot they dig into the carpet, allowing the other leg to push into the opposite direction, which is how the robot is able to make progress (in theory).

I also spent some time trying to make Annelidabot look like a worm. I used a lot of ribbed hosing and a few other decoration pieces for this purpose. One interesting feature, actually unintentional, is the fact that as Annelidabot moves along, parts of the ribbed hosing move in a lifelike way with it! The decoration pieces that move are connected directly to the moving legs with pins, which explains how this happens. This feature makes it all the more interesting to watch.

Overall, the results were very interesting. I achieved results of moving forwards an inch and a half in one “revolution”, to moving backwards some! I believe it might be the type of carpet you use. It would be good to try running it in different types or portions of carpet, but probably not on hard floor!

I wrote the program for the robot in NQC. It is a relatively simple program that makes the robot execute a series of maneuvers that makes it move forwards forever. I would like to add more features to the robot in the future. Turning ability and possibly a larger size are some desired features of mine that would go well with Annelidabot. Thanks for looking!



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   Here is the resting real-life robot



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   Here is the worm up on both legs



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   Up on the left leg



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   Up on the right leg



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   Here is a CAD rendering of Annelidabot



Comments

 I like it 
  October 31, 2010
seriously cool robot. now build skippy the robot in lego technic. build instructions at www.skippyrobot.co.za or www.robotscience.co.za
 I like it 
  October 27, 2005
interesting, i wonder if it would be possible to make a steering worm?
 I like it 
  February 13, 2005
Cool!
 I like it 
  November 20, 2004
VERY AMAZING!!! Quite complicated. The one downside is that it cannot be appreciated in still photos very well. Keep up the awesome work!
 I like it 
  August 2, 2004
This Robotis is just cool, do you have any instructions to it?
 
By David Perdue
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