CMMWorm utilizes a compliant mesh actuated at modular segments to create waveforms along its body. These waveforms can generate peristaltic motion of the body similar to that of an earthworm. The modular mesh is constructed from 3-D printed and commercially available parts allowing for the testing of a variety of components that can be easily interchanged. The six-segment robot can traverse flat ground and pipes.
Paper: http://ijr.sagepub.com/content/31/3/302
Article web fr: http://www.futura-sciences.com/magazines/high-tech/infos/actu/d/robotique-robotique-bel-exemple-biomimetisme-inspire-ver-terre-60246/