Engineering Innovations, ISSN: 2813-1002, Vol. 14, pp 71-84

doi: 10.4028/p-a2fF1P

© 2025 The Author(s). Published by Trans Tech Publications Ltd, Switzerland.

Submitted:
2024-03-22

Revised:
2024-08-02

Accepted:
2024-09-16

Online:
2025-04-04

Biomimetic Robot with Peristaltic Locomotion Integrating 3D Printing and IoT Technologies

The original version of this paper is available on https://www.scientific.net/EI.14.71.pdf

José L. Sandoval-Ferrufino , Bryan E. Alvarado-Orellana , and Julio Valentin Fajardo

Universidad Tecnológica Centroamerica (UNITEC), San Pedro Sula Honduras

Universidad Galileo, Guatemal, Guatemala

jose_sandoval@unitec.edu, orellanab639@unitec.edu, julio.fajardo@galileo.edu

Keywords: Robotics, Biomimetic Robots, Peristaltic locomotion, 3D Printing, Internet of Things (IoT), Real-Time Data Collection

Abstract

This paper presents the design and development of a biomimetic robot utilizing peristaltic locomotion as a method of movement. Inspired by nature, the robot addresses key limitations encountered in conventional robotic systems, such as imbalance affecting the center of mass and restricted adaptability to complex terrains. Integration of Internet of Things (IoT) technology enables real-time data collection, contributing to enhanced performance and efficiency across diverse environments. The utilization of advanced 3D printing techniques facilitates rapid prototyping and customization of robot components. Experimental evaluation demonstrates the effectiveness of the biomimetic approach, highlighting its potential for applications in exploration, disaster response, and healthcare. Analysis of results informs future research directions, focusing on further optimization and integration of emerging technologies to advance robotic capabilities.

Introduction

The original version of this paper is available on https://www.scientific.net/EI.14.71.pdf

Peristaltic locomotion has been an area of interest in nature-inspired robotics. It is based on the movement of wave-like contractions and expansions that mimic the locomotion of certain biological species, such as snakes and worms. This method of movement has proven to be particularly effective in complex and hard-to-reach environments, where conventional locomotion methods may be inefficient or insufficient. [1] Peristaltic locomotion has been studied in a variety of contexts, including medical applications and space exploration. In medicine, its potential for the development of miniaturized medical devices that can navigate through the human body with precision and control has been explored [2]. It has also been considered as a possible movement mechanism in space exploration for robots intended to explore challenging terrains on other planets or moons [3].

An important challenge in modern robotics lies in the ability to navigate efficiently through complex environments. The development of a peristaltic robot seeks to address this challenge by leveraging its unique movement capabilities, particularly suited for exploration in irregular and challenging terrains. Peristaltic locomotion, inspired by biological organisms such as snakes and worms, involves rhythmic contractions and expansions to propel the robot forward, enabling it to traverse uneven surfaces, tight spaces, and obstacles with relative ease[4]. This mode of locomotion offers distinct advantages over traditional wheeled or legged robots, as it allows for smooth adaptation to varying terrain conditions and minimizes the risk of getting stuck or overturned. Additionally, peristaltic robots exhibit a lower ground pressure, reducing the likelihood of causing damage to delicate environments or structures during exploration. By addressing the limitations of conventional locomotion methods, peristaltic robots hold great promise for applications in fields such as search and rescue, environmental monitoring, and planetary exploration, where navigating challenging terrains is essential for mission success[5]. Furthermore, advancements in materials science, sensor technology, and control algorithms are poised to further enhance the capabilities and versatility of peristaltic robots, paving the way for innovative solutions to complex challenges in robotics and beyond.

The development of robotic locomotion faces several challenges. Firstly, imbalance due to the motor's position affecting the center of mass can lead to undesired slipping during robot movement[6]. This occurs when friction forces between the followers and the surface are insufficient to counterbalance the motor's unbalanced weight, resulting in uncontrolled and less efficient movement. Moreover, center of mass imbalance can influence the robot's direction of movement. On inclined or uneven surfaces, slipping caused by imbalance can cause the robot to deviate from a straight path, affecting its ability to follow a desired trajectory. Secondly, traditional robots lack IoT integration, limiting their ability to collect and utilize real-time data for performance optimization and environmental adaptation. Lastly, conventional robots are not teleoperated, meaning they lack remote control capabilities, which can restrict their usability and flexibility in dynamic environments. Addressing these limitations is crucial for advancing the capabilities and applicability of robotic systems in various domains.

Our primary objective is to design and develop a biomimetic robot capable of peristaltic locomotion, addressing key limitations present in conventional robotic systems. By harnessing the principles of peristaltic movement inspired by nature, we aim to enhance the robot's adaptability and maneuverability in complex and challenging environments. Additionally, we seek to integrate Internet of Things (IoT) technology into the robot's design, enabling real-time data collection and analysis to improve its performance and efficiency across various applications. Our motivation stems from the recognition of the potential of biomimetic robotics and IoT integration to revolutionize robotic capabilities and address critical challenges in fields such as exploration, disaster response, and healthcare. Through this project, we aspire to contribute to the advancement of robotics by pushing the boundaries of innovation and providing practical solutions to real-world problems.

In the subsequent sections, we detail the materials employed and the methodologies followed throughout the project, encompassing the design, fabrication, and testing phases. We delve into the selection of components, including motors, sensors, and structural materials, as well as the utilization of advanced 3D printing techniques for rapid prototyping and customization. Additionally, we elucidate the experimental setup and procedures conducted to evaluate the performance of the biomimetic robot in various simulated and real-world scenarios, highlighting key findings and observations derived from the collected data. Through meticulous analysis, we elucidate the implications of our results, shedding light on the efficacy and limitations of the proposed approach. Furthermore, we present our conclusions, synthesizing the key insights gained from the study and outlining avenues for future research and development. Emphasis is placed on the potential for further optimization and refinement of the robot's design and functionality, as well as the exploration of novel applications and integration of emerging technologies to enhance its capabilities.

State of Art

The original version of this paper is available on https://www.scientific.net/EI.14.71.pdf

Locomotion. The peristaltic locomotion of worm robots was optimized using Bézier curves, enhancing smoothness and flexibility in route planning [1]. The efficiency of peristaltic wave planning was significantly increased with the introduction of an elliptical trajectory algorithm [2] [5]. A hybrid controller ensured gait cycle stability in bio-inspired robots, considering angular constraints, and utilizing an extended state observer [3] [7]. They promise more adaptable and efficient worm robots for various applications. In the study on undulatory locomotion, a minimally actuated robot is presented that efficiently moves across highly flexible surfaces, surpassing worm locomotion [8]. Another approach highlights the development of a bioinspired soft pneumatic robot resembling segmented worms, utilizing elastomers and casting techniques to achieve efficient peristaltic locomotion [5]. In an innovative proposal, a soft crawling robot with multiple modes of movement and high environmental adaptability is introduced, employing pneumatic actuators and selective laser sintering technology [9]. The efficiency, adaptability, and versatility of soft robots in various applications.

Another example is a deformable mobile robot was designed capable of adjusting its shape to overcome obstacles and adapt to the environment, highlighting the importance of flexibility in locomotion [10]. A study presents a crawling robot inspired by inchworms, with a compact and versatile design for
inspecting metal pipes [11]. A deep learning approach based on image processing for shape control of continuous soft robots is introduced, facilitating intuitive and precise teleoperation [12]. These innovations underscore the diversity and practical application of flexible robots in complex environments. Also, analysis of obstacle-assisted locomotion in snake robots, enhancing performance through force reaction analysis and experiments in various environments [13]. Optimization of greenhouse design for efficient navigation of mobile robots through differential evolution, considering various aspects such as required space [14]. A collective conditioned reflex mechanism for multi-robot systems, inspired by animal collective behaviors, enhancing teams' responsiveness in emergency situations [15]. These advancements contribute to the development of robotics in specific applications and improving efficiency in different contexts.

Experimental validation of the locomotion efficiency of worm-like robots and contact compliance is conducted, demonstrating clear correspondence between experimental results and theoretical predictions considering tangential compliance in the interaction between the robot and the flexible environment [16]. A Hybrid Active Disturbance Rejection Controller (H-ADRC) is presented, designed to regulate the gait cycle of a worm-inspired robotic device, achieving the execution of the proposed gait cycle despite disturbances and uncertainties in the model, surpassing the performance of PID and PD controllers [7]. Furthermore, the reaction force in obstacle-assisted locomotion of a snake robot using segmented helices is analyzed, evaluating conditions for maintaining contact and factors interfering with propulsion, and theoretically verifying these aspects with obstacle-assisted locomotion experiments [13]. These studies contribute to the development of efficient serpentine robots in complex environments and the understanding of the forces involved in their locomotion.

Structures. Inspired by the flexibility of worms, FabricWorm and MiniFabricWorm utilize textiles in soft robotics, enhancing structural smoothness and reducing rigid components [4]. A minimally invasive manipulator, with redundant kinematics, incorporates sensors for neurosurgical procedures, highlighting its flexibility and precise control [2]. A new design of soft caterpillar-like robot demonstrates efficient dual locomotion through the interaction of electricity and moisture, improving environmental adaptability [6]. Innovation in structural flexibility and advancement in soft crawling robots. Also, actuators of Twisted and Coiled Polymer (TCP) stand out in soft robotics for their powerful, hysteresis-free stroke, as seen in the soft crawling robot inspired by spines, demonstrating proven effectiveness and speed [17]. A multimodal soft robot activated by dielectric elastomer mimics a worm, featuring lightweight design and variable speeds based on electrical excitation [18]. Inspired by earthworms, a pneumatic crawler robot with suction cups on its feet demonstrates high stability and precision in direction, adapting to diverse surfaces [19]. Various advancements in soft robotics showcase versatile, effective designs tailored to different surfaces.

Taking inspiration from migratory birds, a worm robot was designed to be guided by a magnet, demonstrating environmental adaptability and magnetically guided movement [20]. A gripping module for robotic snakes was proposed to perform search and rescue tasks, with the capability to accommodate fingers, grasp objects, and include a camera [21]. A proactive neural control was suggested, allowing robots to adapt their bodies to maintain efficient contact with the ground on complex terrains [22]. The diversity of approaches aimed at enhancing mobility and functionalities of robots.

In interaction with biological environments, worm robots aim to overcome the challenges of flexibility and low friction in minimally invasive medical procedures [23]. The adaptability and flexibility of biological tissues are emphasized, challenging the design of worm robots for navigation in biological vessels, with a focus on interaction and locomotion efficiency. This study derives conditions based on flexibility, friction coefficients, and external forces [24]. Additionally, a broader analysis is presented, incorporating dynamically and statically friction coefficients, experimentally validated [16]. These studies advance the understanding of robot-environment interaction in invasive medical contexts.

Fig. 1: Model design in Solidworks.

Fig. 1. Model design in Solidworks.

A single-actuator peristaltic robot designed for subsurface geological exploration and device placement is presented, employing a worm mechanism with a cam follower configuration utilizing peristaltic displacement [6]. On the other hand, trajectory planning for worm-inspired robots akin to earthworms is addressed using Rapidly-exploring Random Trees (RRT) algorithms, highlighting the efficiency of the two-step enhanced RRT algorithm for generating peristaltic waves and facilitating motion planning in these robots [3]. Additionally, a validation method is proposed for Magneto-Inertial Measurement Units (M-IMUs) in the analysis of upper limb motion through an anthropomorphic robot, demonstrating its efficacy in evaluating the performance of these sensors in accurately tracking specific angular trajectories [25]. These advancements contribute to research in robotics applied to subsurface exploration, worm-type robot locomotion, and kinematic analysis of upper limbs.

Materials and Methods

The original version of this paper is available on https://www.scientific.net/EI.14.71.pdf

Methods. Designing and developing a biomimetic robot that employs peristaltic locomotion as a method of movement is the primary objective of this study. This robot is proposed as an innovative solution to overcome various limitations encountered in conventional robots, such as payload restrictions, steering difficulties, and center of mass imbalance issues. 1Additionally, the feasibility of manufacturing these robots using 3D printing will be explored, with a particular focus on cost optimization. The integration of Internet of Things (IoT) technologies will enable the robot to collect relevant data during its operation, thereby enhancing its performance and efficiency across various environments and applications. 2 The methodology involves the design and experimental validation of a 3D-printed continuum robot with integrated sensors for neurosurgery. This robot features hyperredundant kinematics and integrated sensor modules that allow real-time measurement of control variables and control of the curvature and orientation of the robot's flexible end. This study provides an insightful perspective on how sensor integration in 3D-printed robots can enhance capabilities and precision in neurosurgery applications, inspiring and complementing future project developments. [2]

Furthermore, a fascinating insight is provided into how the biology of creatures in nature can inspire the design and development of robots with similar locomotion capabilities. Specifically, the worm-inspired robot presents an innovative solution for inspecting pipelines in complex environments such as the oil and gas industry. By mimicking the morphology and behavior of a inchworm, the robot employs a compact and versatile design with a passive adhesion mechanism that allows it to effectively traverse curved metal surfaces, offering a practical and efficient solution for remote pipeline inspections [11].

Significant advancements in the field of soft robotics are presented with the development of a modular and flexible robotic snake capable of motion planning and iterative learning control. The

Fig. 2: Proposed method

Fig. 2. Proposed method

significance of this work lies in creating a robot capable of mimicking the capabilities of biological snakes, making it suitable for applications such as confined space inspection, search and rescue, and disaster response. Moreover, the incorporation of integrated curvature sensors and feedback-based control allows the robotic snake to autonomously adjust its movement, increasing its ability to navigate obstacles and complex environments more efficiently. [26]

To develop the project, a systematic approach was followed, comprising several key steps. Initially, extensive research was conducted to understand the principles of peristaltic locomotion and identify existing technologies and methodologies relevant to the project's objectives. Subsequently, a comprehensive design phase was undertaken, leveraging tools such as SolidWorks to create detailed models of the robot and its components. Drawing inspiration from existing research articles, the design was adapted and optimized to address specific challenges, such as balance and adaptability to different terrains. Once the design was finalized, the fabrication process commenced, utilizing 3D printing techniques to manufacture the custom components. Concurrently, IoT capabilities were integrated into the design, enabling real-time data collection, remote monitoring, and predictive maintenance functionalities. Following fabrication, rigorous testing and experimentation were conducted to evaluate the robot's performance across various parameters, including locomotion speed, stability, and adaptability to different surfaces. Results from these experiments informed iterative design improvements, ensuring the continual refinement and optimization of the robot's functionality. Throughout the project, interdisciplinary collaboration and a systematic, iterative approach were key to achieving the project's objectives and advancing the frontier of biomimetic robotics. Simulations and tests were pivotal in assessing the performance and reliability of the robotic system. SolidWorks served as the primary tool for conducting these simulations, allowing for virtual testing of the robot's design and functionality before physical fabrication.Through SolidWorks, various simulations were carried out to analyze factors such as structural integrity, stress distribution, and mechanical interactions within the system. These simulations provided valuable insights into potential design flaws or weaknesses, enabling preemptive adjustments to enhance the robot's robustness and efficiency. Additionally, SolidWorks facilitated dynamic simulations to evaluate the robot's locomotion patterns and stability on different terrains, aiding in the optimization of leg configurations and movement mechanisms. Subsequent physical tests validated the findings from the simulations, corroborating the effectiveness of the design modifications and providing further opportunities for refinement. Overall, the combination of virtual simulations and physical testing enabled a comprehensive evaluation of the robotic system, ensuring its readiness for real-world applications while minimizing risks and costs associated with iterative prototyping.

The development of this investigation would constitute a significant advancement in science by addressing several innovative aspects in the field of robotics. Firstly, the exploration of peristaltic locomotion represents an underdeveloped area with considerable potential for applications across various fields, ranging from space exploration to medicine. The combination of this approach with 3D printing techniques provides a platform for efficient and customized manufacturing of biomimetic robots, further expanding the possibilities for design and application. Additionally, the integration of Internet of Things (IoT) technologies for real-time data collection allows for continuous feedback and improvement of the robot's performance in a variety of environments and operational scenarios. Collectively, these elements constitute a valuable contribution to science by advancing the frontier of knowledge in robotics, offering new solutions to complex challenges in both research and practical applications of robotic technology.

Materials.

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3d Printing. Utilizing 3D printing as a cost-effective manufacturing method holds significant promise in advancing the field of robotics. This technique allows for the fabrication of complex geometries and intricate structures with high precision and efficiency, enabling the creation of customized components tailored to specific robotic designs[3]. One of the key advantages of 3D printing is its ability to reduce material waste and production costs compared to traditional manufacturing processes. By utilizing additive manufacturing techniques, where material is deposited layer by layer according to a digital model, 3D printing minimizes the need for expensive tooling and machining, making it particularly suitable for prototyping and small-scale production of robotic components. Additionally, 3D printing offers versatility in material selection, allowing for the use of a wide range of materials, including plastics, metals, and composites, to meet the specific mechanical and functional requirements of robotic systems. Moreover, the ability to rapidly iterate designs and make on-the-fly adjustments further enhances the agility and adaptability of the manufacturing process, facilitating the exploration of novel robotic concepts and accelerating the development timeline. Overall, the integration of 3D printing technologies into the fabrication of robotic systems represents a significant step forward in achieving cost-effective and customizable solutions, paving the way for innovation and advancement in the field of robotics.

Utilizing 3D printing for manufacturing offers significant cost advantages compared to traditional manufacturing methods. Unlike subtractive manufacturing processes such as milling or machining, which involve cutting away material from a solid block, 3D printing is an additive manufacturing process that builds objects layer by layer from digital designs [4]. This additive approach minimizes material waste, as only the necessary amount of material is used to create the final product, resulting in reduced material costs. Moreover, 3D printing eliminates the need for expensive tooling and setup typically associated with traditional manufacturing methods. In traditional manufacturing, specialized tooling and molds must be created for each part, leading to high upfront costs and longer lead times. In contrast, 3D printing allows for rapid prototyping and production without the need for costly tooling, enabling quicker turnaround times and lower initial investment.

Additionally, the versatility of 3D printing technology allows for the fabrication of complex geometries and intricate designs that would be difficult or impossible to achieve using traditional manufacturing methods. This design freedom not only expands the range of possible applications but also reduces the need for assembly and post-processing steps, further streamlining the manufacturing process and reducing costs. Furthermore, the accessibility of 3D printing technology has increased in recent years, with a wide range of affordable desktop 3D printers available on the market. This democratization of manufacturing enables individuals and small businesses to harness the benefits of 3D printing for rapid prototyping, custom fabrication, and small-scale production at a fraction of the cost of traditional manufacturing methods [2]. Overall, the cost-effectiveness of 3D printing makes it an attractive option for manufacturing robotic components, offering affordability, flexibility, and efficiency compared to conventional manufacturing techniques.

Utilizing 3D printing for manufacturing the robot components involved a systematic approach starting with the creation of detailed models in SolidWorks. Drawing inspiration from existing research articles, our design process involved adapting and optimizing the robotic model to address specific challenges encountered in locomotion, particularly concerning balance and adaptability to various terrains[17]. SolidWorks provided a robust platform for modeling intricate geometries and mechanical structures, enabling us to refine the design iteratively while ensuring compatibility with the manufacturing process.

The adaptation of the existing design involved significant modifications to accommodate peristaltic locomotion and overcome issues related to imbalance [19]. This included redesigning the robot's chassis and integrating counterweight mechanisms to redistribute mass effectively, thereby enhancing stability and maneuverability. Additionally, adjustments were made to ensure the robot's ability to traverse diverse surfaces with ease, necessitating the incorporation of features such as reinforced traction elements and optimized wheel configurations. Furthermore, the utilization of 3D printing technology enabled rapid prototyping and customization of components, facilitating the implementation of design iterations and fine-tuning of mechanical properties. This iterative design process allowed for the exploration of various design alternatives and optimization strategies, ultimately resulting in a robust and efficient robotic system capable of peristaltic locomotion on a variety of surfaces.

In summary, the integration of 3D printing technology in the design and manufacturing process played a crucial role in realizing the robot's capabilities. By leveraging SolidWorks for precise modeling and adaptation of existing designs, coupled with iterative prototyping enabled by 3D printing, we were able to address key challenges and create a novel robotic platform capable of efficient and adaptable locomotion.

Esp32. The ESP32 is a powerful microcontroller and system-on-chip (SoC) solution widely used in the robotics field for its versatility, performance and cost-effectiveness. Developed by Espressif Systems, the ESP32 combines a dual-core Xtensa LX6 microprocessor with integrated Wi-Fi, Bluetooth and low-power capabilities, making it an ideal choice for a wide range of robotic applications. One of the key features of the ESP32 is its integrated Wi-Fi and Bluetooth connectivity, which enables seamless communication with other devices and networks, as well as remote control and monitoring capabilities. This enables the implementation of advanced functionalities such as wireless transmission of sensor data, cloud connectivity, and mobile application integration, enhancing the overall functionality and versatility of robotic systems [27]. The ESP32 offers a comprehensive set of peripheral interfaces and integrated hardware acceleration for tasks such as encryption, hash functions, and digital signal processing (DSP), making it ideal for computationally demanding tasks in robotics. The flexibility of its GPIO (general purpose input/output) pins and support for popular communication protocols such as I2C, SPI and UART further extend its capabilities, enabling easy integration with a wide range of sensors, actuators and peripheral devices commonly used in robotics. The ESP32's low-power capabilities make it suitable for battery-powered, low-power robotic applications, enabling extended operation in remote or resource-constrained environments. Its advanced power management features, including multiple sleep modes and dynamic frequency scaling, help optimize power consumption and extend battery life, making it an attractive option for mobile and autonomous robotics. Overall, the ESP32 is a versatile and feature-rich platform that offers a compelling combination of performance, connectivity and power efficiency, making it an ideal choice for a wide range of robotics projects and applications.

Dht11. The DHT11 is a widely used sensor for measuring temperature and humidity in a variety of applications, including robotics. This sensor offers a simple and cost-effective solution for monitoring environmental conditions in real time. One of the main features of the DHT11 sensor is its simplicity of use. It consists of a calibrated digital signal output that can be easily interfaced to microcontrollers such as the ESP32. The sensor uses a capacitive humidity sensor and a thermistor to measure relative humidity and temperature, respectively [28]. The DHT11 sensor offers a wide measurement range for both temperature and humidity, typically ranging from to for temperature and 20Another
advantage of the DHT11 sensor is its low cost, which makes it an attractive option for projects with budget constraints. In addition, it requires a minimum of external components for its operation, which simplifies the design and integration process. However, it is essential to note that the DHT11 sensor has some limitations. It can exhibit relatively slow response times compared to other sensors, and its accuracy can be affected by factors such as temperature variations and external interference. Therefore, it may not be suitable for applications requiring high-speed or high-accuracy measurements. Overall, the DHT11 sensor is a practical and affordable solution for monitoring temperature and humidity in robotics projects, offering simplicity, reliability and cost-effectiveness. Its ease of use and compatibility with microcontrollers such as the ESP32 make it a popular choice for hobbyists and enthusiasts alike.

IoT. Integrating components such as the ESP32 microcontroller, DHT11 temperature and humidity sensor, and 3D-printed parts into an Internet of Things (IoT) framework allows for the creation of a versatile robotic system capable of real-time data collection, analysis, and remote monitoring as shown in Figure 3. The ESP32 facilitates wireless communication and connectivity with IoT platforms, enabling the transmission of sensor data to cloud servers for storage and processing. Through IoT-enabled applications, users can remotely control and monitor the robot's operation, receive notifications based on environmental conditions captured by the DHT11 sensor, and leverage cloud-based analytics for predictive maintenance and optimization. This seamless integration of robotics, sensor technology, and IoT infrastructure enhances the robot's functionality, efficiency, and adaptability, offering new possibilities for diverse applications in fields such as environmental monitoring, smart agriculture, and industrial automation.

The integration of Internet of Things (IoT) technologies into robotic systems offers a multitude of benefits, particularly in enhancing the functionality, efficiency, and adaptability of the robot [29]. By incorporating IoT capabilities into the robot, it becomes capable of collecting, analyzing, and communicating data in real time, enabling a range of advanced functionalities.

One of the key benefits of IoT in robotic systems is remote monitoring and control [30]. With IoT-enabled sensors and connectivity, users can remotely monitor the robot's operation, gather environmental data, and receive notifications or alerts in real-time. This capability is particularly valuable in applications such as environmental monitoring, where the robot can collect data on temperature, humidity, air quality, and more, and transmit this information to a central database or cloud platform for analysis.

Moreover, IoT facilitates predictive maintenance and optimization of robotic systems. By continuously monitoring sensor data and performance metrics, the robot can detect signs of wear, damage, or malfunctions in its components and preemptively notify users or operators of potential issues. This proactive approach to maintenance can help prevent costly downtime and equipment failures, leading to improved reliability and operational efficiency.

Furthermore, IoT enables data-driven decision-making and optimization of robotic operations. By collecting and analyzing large volumes of sensor data, the robot can identify patterns, trends, and anomalies in its environment and adjust its behavior or parameters accordingly. This adaptive capability allows the robot to optimize its performance in real-time, responding dynamically to changing conditions and requirements.

Additionally, IoT integration enhances collaboration and coordination between robotic systems and other devices or systems within the broader IoT ecosystem. By leveraging standardized communication protocols and interoperability standards, robots can seamlessly exchange data and collaborate with other IoT devices, sensors, and platforms, enabling more sophisticated and integrated applications.

In addition to the development of the robotic system, real-time temperature data collection was implemented as part of the research. 5 Through the integration of IoT technologies, temperature readings from the sensor were continuously collected and transmitted to a cloud-based platform for visualization and analysis. This real-time monitoring capability provided valuable insights into environmental

Fig. 3: IoT proposed arquitecture.

Fig. 3. IoT proposed arquitecture.

conditions and fluctuations, enabling researchers to make informed decisions and adjustments as necessary. The IoT infrastructure facilitated seamless data transmission and visualization, allowing for remote access to temperature data from any internet-enabled device. This capability proved invaluable in monitoring the robot's performance and environmental conditions during operation, facilitating timely interventions and optimizations to enhance efficiency and reliability. Overall, the integration of IoT significantly enhanced the research process by enabling real-time data collection, visualization, and analysis, demonstrating its critical role in advancing robotics research and development.

Overall, the integration of IoT technologies into robotic systems offers numerous benefits, including remote monitoring and control, predictive maintenance, data-driven optimization, and enhanced collaboration. By harnessing the power of IoT, robotic systems can become more intelligent, autonomous, and capable of addressing a wide range of applications and challenges in diverse domains.

Experiments and Results Analysis

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The robot's evaluation will be conducted through a series of rigorous tests designed to assess its performance in real-life applications. These tests will include obstacle navigation, terrain adaptability, and the efficiency of its peristaltic movement in various environments. Additionally, the robot's ability to collect and transmit data in real-time via IoT integration will be examined to ensure it can operate autonomously and respond to changing conditions. The results from these evaluations demonstrated the robot's robustness and versatility, confirming its potential for practical applications such as search and rescue missions, inspection of confined spaces, and environmental monitoring. The successful performance in these tests reflects the project's real-life applicability, showcasing how the combination of biomimetic design, 3D printing, and IoT can address current challenges in robotics, providing a reliable and efficient solution for complex and dynamic environments.

Fig. 4: Final design

Fig. 4. Final design

Floor type. The initial experimentation involved testing the robot's locomotion performance on various types of terrain, including stone asphalt, wood, pavement, grass, and sand. The results of the experiments, as summarized in the table, indicate minimal variations in the vertical displacement (zaxis) of the robot across different types of terrain, with measurements ranging from 173 mm to 176 mm . This consistency suggests that the robot's peristaltic locomotion mechanism is relatively robust and effective across a range of surface textures and conditions.

However, it's essential to consider potential factors that may influence these results, such as surface roughness, traction, and adhesion properties. For instance, while the robot may exhibit consistent vertical displacement on different surfaces, its traction and overall stability may vary, affecting its ability to maintain a straight trajectory or navigate obstacles effectively. Additionally, environmental factors such as moisture levels, temperature, and surface irregularities could impact the robot's performance and should be considered in further analyses.

Furthermore, further investigation into the specific mechanisms underlying the robot's locomotion on different surfaces could provide valuable insights into its adaptability and efficiency. Analyzing the interaction between the robot's motion and surface properties, such as friction, adhesion, and deformation, could help optimize its design and performance for specific applications and environments. 4

Overall, while the initial experimentation yields promising results regarding the robot's locomotion across various terrains, further analysis and testing are warranted to fully understand its capabilities and limitations in real-world scenarios. By systematically evaluating the robot's performance under different conditions and refining its design based on empirical data, we can ensure its effectiveness and reliability in practical applications.

Legs size. The subsequent experiment involved modifying the size of the robot's legs by increasing their length, with the intention of potentially improving stability or traction on various surfaces. However, the results indicated that despite the larger leg size, the robot exhibited decreased speed

Fig. 5: Temperature Sensor

Fig. 5. Temperature Sensor

during locomotion. This finding suggests a trade-off between leg size and locomotion speed, where larger legs may provide enhanced stability or surface contact but also increase friction or resistance, resulting in slower movement.

Analyzing these results, it becomes evident that the relationship between leg size and locomotion speed is complex and multifaceted. While larger legs may offer advantages in certain aspects such as stability or weight distribution, they may also introduce limitations in terms of agility, maneuverability, and overall locomotion efficiency. Therefore, the decision to modify leg size should be carefully considered and balanced with other design factors to achieve optimal performance for the specific application and environment.

Furthermore, this experiment highlights the importance of iterative testing and refinement in robotics design. By systematically evaluating the impact of design modifications on performance metrics such as speed, stability, and efficiency, engineers can gain valuable insights into the underlying mechanisms and trade-offs involved. This iterative approach allows for the identification of optimal design parameters and the development of more robust and effective robotic systems.

Overall, while increasing leg size may offer potential benefits in terms of stability or surface contact, it's essential to carefully evaluate its impact on locomotion speed and other performance metrics. By conducting systematic experiments and analysis, engineers can make informed design decisions and optimize robotic systems for a wide range of applications and environments.

Conclusion

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In conclusion, the development and experimentation with the biomimetic robot employing peristaltic locomotion and integrated IoT technologies represent significant advancements in the field of robotics. The integration of 3D printing facilitated the fabrication of customized components, offering costeffective solutions and enabling iterative design improvements. Furthermore, the incorporation of IoT capabilities allowed for real-time data collection, remote monitoring, and predictive maintenance, enhancing the robot's functionality and adaptability. However, experimental results highlighted the importance of carefully balancing design modifications, such as leg size adjustments, to optimize per-
formance metrics like speed and stability. Moving forward, continued research and development in biomimetic robotics, combined with IoT integration and 3D printing advancements, hold promise for addressing complex challenges and unlocking new possibilities in various applications, from environmental monitoring to industrial automation and beyond. By leveraging interdisciplinary approaches and iterative design methodologies, the frontier of robotics continues to expand, offering innovative solutions to meet the demands of a rapidly evolving technological landscape.

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The original version of this paper is available on https://www.scientific.net/EI.14.71.pdf

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