中文摘要：

仿照尺蠖特有的Ω式蠕动运动方式，设计了一种能蠕动前进的模块化软体机器人。该机器人由4个可重组的软体球型单元模块和一对可变形软体摩擦腹足组成，通过球型模块的依次膨胀和收缩，以及软件摩擦腹足的交替及附和脱离，实现在粗糙面上的蠕动前进。分析了该机器人的蠕动前进的运动模式，推导出了单个球型单元模块膨胀半径与压强的关系，建立了四个软体球型单元模块的膨胀、收缩和腹足交替吸附和脱离的运动模型。试验和理论验证结果表明，该机器人能实现仿尺蠖蠕动前进运动。

英文摘要：

In imitation of inchworms＇ special Ω movement, a kind of modular soft robot capable of moving like inchworm peristalsis was designed. The robot is composed of four reconfigurable and soft spherical modules, and a pair of fric- tion gastropods, and it can peristahically moves on a rough surface by the spherical modules＇ successive inflation and deflation, as well as the alternative kelleg and leave of the friction gastropods. The robot＇ s inchworm peristalsis mode was analyzed, the relation between the expansible radius and the pressure in a single spherical module was inferred, and the dynamic moving process was modeled with the deflating and inflating modes of each module and the kelleg and leave of the friction gastropods. The modular soft robot can move forward like inchworm motion. This was verified by experiment and theoretical analysis