fig3

Figure 3. Examples of Earthworm Robots and actuators. (A) Fluid-filled pneumatic actuator under positive and negative pressure adapted with permission from Das et al.^[15]; (B) CMMWorm in a 15.2 cm Ø pipe developed by Daltorio and Kandhari. Provided by Daltorio et al.^[24]; (C) Earthworm robot made from pneumatic artificial muscles, reprinted with permission from Sato et al.^[26]; (D) Wireless magnetically actuated Earthworm Robot reprinted with permission from You et al.^[30]. CMMWorm: Compliant Modular Mesh Worm.