Journal of Bionic Engineering ›› 2025, Vol. 22 ›› Issue (5): 2194-2235.doi: 10.1007/s42235-025-00750-4
Biomimetic Robots Inspired by Annelid Animals: Research Progress and Development Trend
Ningmeng Chen1,2; Feng Jiang1,2; Xingchen Du3; Yuqing Wu3; Lan Yan1,2; Rui Zhang4
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1 Institute of Manufacturing Engineering, Huaqiao University,Xiamen 361021, China
2 State Key Laboratory of High Performance Tools,Xiamen 361021, China
3 College of Mechanical Engineering and Automation,Huaqiao University, Xiamen 361021, China
4 Key Laboratory of Bionic Engineering, Ministry ofEducation, Jilin University, Changchun130022, People’s Republic of China
Biomimetic Robots Inspired by Annelid Animals: Research Progress and Development Trend
Ningmeng Chen1,2; Feng Jiang1,2; Xingchen Du3; Yuqing Wu3; Lan Yan1,2; Rui Zhang4
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1 Institute of Manufacturing Engineering, Huaqiao University,Xiamen 361021, China
2 State Key Laboratory of High Performance Tools,Xiamen 361021, China
3 College of Mechanical Engineering and Automation,Huaqiao University, Xiamen 361021, China
4 Key Laboratory of Bionic Engineering, Ministry ofEducation, Jilin University, Changchun130022, People’s Republic of China
摘要： Annelid-inspired robots exhibit excellent motion adaptability and structural compliance, enabling them to navigate con-lfined, hazardous, or complex environments such as pipelines, soil, or the gastrointestinal tract. This review summarizes key developments in their bionic part design, actuation methods, material selection, and performance characteristics. Comparative analyses show that different actuation strategies (e.g., pneumatic, shape memory alloys, and electroactive polymers, ete.) need to be weighed in terms of their advantages, limitations, and applicable environments. Materials likesilicone rubber and SMA are evaluated for their strength, flexibility, and energy performance. Quantitative benchmarks of velocity, load capacity, and energy consumption are presented to highlight design-performance correlations. Prospective research directions include the integration of multifunctional adaptive materials, real-time feedback sensing systems, and scalable architectures for autonomous operation in unstructured environments.