I previously made a worm robot, which used Peristaltic locomotion – expanding and contracting various segments of its body to push itself along. I’d intended to come back to this project and add some ratchet wheels on each segment – just like the hairs that can be found on real earthworms, which would help prevent slippage. I’d also intended to add more actuators so that the worm could bend side to side to steer, and also bend up and down so it could climb over objects. I’ve also previously expe