FIG. 8.

Snapshots of different gait patterns obtained for different body configurations. The dark green color indicates that a segment is gripping the substrate. (a) Crawling acquired under condition A (left), where the actuator was relatively weak. A direct wave was observed, as in the crawling of silkworms (right). (b) Inching acquired under condition B, where the actuator was ∼4.3 times stronger than in condition A. The segments were able to bend from −1.407 to 1.570, and the springs between the segments were made stiffer. The rear and the front ends move in turn, resulting in limping behavior, as seen in inchworms (right).