From Earthworms to Robotics: A Review of Worm-Like Locomotion Systems

Abstract

Worm-like bionic robots that are inspired by soft-bodied invertebrate locomotion, such as nematodes and earthworms, are one emerging trend in soft robotics. With inherent abilities to adapt and change shape to narrow or uneven environments, such robots have special application prospects for pipeline inspection, search and rescue, and minimally invasive medicine. The current review provides a synthetic account of recent advances within structural designs, actuating technologies, and control policies for these robots. The paper explores biologically grounded modes of motion such as peristalsis, undulation, and inchworm motion, and how morphological designs and material selections impact locomotion performance. Beneath this, this paper mentions challenges with actuation autonomy, soft sensing, and gait management, while highlighting future trends such as multimodal locomotion, intelligent management, and tunable material systems. By correlating biological inspiration with engineering expertise, this paper provides a road map to further refinement and real-world application of worm-like robotic systems.While this review offers a comprehensive synthesis of worm-like bionic robots, it is limited by the lack of standardized benchmarking across existing studies, which hinders objective performance comparison; future research should address this gap and explore bio-hybrid approaches to further improve locomotion efficiency, adaptability, and autonomy.