The field of bio-engineering with the aim of developing new machines, which utilizes the motion and conml oforganisms as a model, is attracting atfention. This technologv is pursued by focusing on to various shapes and movemen& of organisms and autonomous systems of organisms acting in response to the environment surrounding them, and by mechanically elucidating the locomotion mechanism, propulsive mechanism, nerve system and semation system of these Organisms.
We exnmined the perirtaltic crawling of an earthworm as a transporifinction inplace ofwheels or ambulation, and have developed a robot running inside a tube. In this robot, a cell corresponding to the earthworm's segment is composed of a new ariiiciol muscle actuator that we have developedThir paper presentr the expermental result of the peristaltic crawling of an actual earthworm and the evaluation result of the nanspori mechanism of a protorype robot.
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