As a maker, I often find myself turning to nature for inspiration for new projects. One day I found an earthworm while digging though the garden. I usually wouldn't think twice about this but on this day I was quiet captivated by the way it moved. The more I thought about and researched the motion I found it wouldn't be too hard to replicate, so I built a robotic earth worm. 

This is version two of a soft robotic pillow actuator intended to be used to create a soft robotic earthworm capable of peristaltic motion. It is composed of two parts, the ninja flex actuator and the PVA insert for supporting the top layer. Use a layer change two just before the top two layers to insert the PVA support. The resulting actuator should be airtight.

Instructable:
https://www.instructables.com/id/How-to-Make-a-Robotic-Worm/

Print instructions

It is composed of two parts, the ninja flex actuator and the PVA insert for supporting the top layer. Use a layer change just before the top two layers to insert the PVA support. The resulting actuator should be airtight.