  This paper presents a soft earthworm robot that is capable of both efficient
locomotion and obstacle avoidance. The robot is designed to replicate the
unique locomotion mechanisms of earthworms, which enable them to move through
narrow and complex environments with ease. The robot consists of multiple
segments, each with its own set of actuators, that are connected through rigid
plastic joints, allowing for increased adaptability and flexibility in
navigating different environments. The robot utilizes proprioceptive sensing
and control algorithms to detect and avoid obstacles in real-time while
maintaining efficient locomotion. The robot uses a pneumatic actuation system
to mimic the circumnutation behavior exhibited by plant roots in order to
navigate through complex environments. The results demonstrate the capabilities
of the robot for navigating through cluttered environments, making this
development significant for various fields of robotics, including search and
rescue, environmental monitoring, and medical procedures.
