Locomotion characteristics of an SMA-actuated micro robot simulating a medicinal leech in a pipeline
Research into the locomotion principle of a new micro peristaltic robot simulating a medicinal leech in a pipeline, and a subsequent kinematic model, inform this article. The effects of structure on robot performance are analyzed; also presented is the basis for the robot's redesign, parameterized design, and optimal design. © 2002 Wiley Periodicals, Inc.