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<p>This paper presents a comprehensive investigation of the inverse kinematics (IK) problem for a 5 degree of freedom (DOF) worm robot and experimental validation of a worm-inspired robotic system through an integrated digital twin framework. The study includes detailed kinematic modeling of the robot, employing trigonometric laws to derive closed form solutions for determining joint configurations. The digital twin, developed in NVIDIA Isaac Sim facilitates real-time bi-directional communication between virtual and physical systems. Sensor feedback, including joint angles and range data—is continuously streamed to ensure accurate mirroring and performance tuning. Sliding mode control is then evaluated for trajectory tracking and gait modulation. Experimental validation includes traversal across different surfaces using inverse kinematics-based control. This work highlights the potential of digital twin enabled bio-inspired robots for use in various environments, utilizing appropriate control approaches, with implications in search and rescue, inspection, and exploration of unstructured environments.</p>

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Inverse kinematic analysis and digital twin control of a worm robot

  • 期刊论文

  • 发表日期：

    2026年3月10日

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  • Jay B. Menon,
  • Apoorva Rahul Uplap,
  • Mehran Rahmani,
  • Sangram Redkar

摘要

This paper presents a comprehensive investigation of the inverse kinematics (IK) problem for a 5 degree of freedom (DOF) worm robot and experimental validation of a worm-inspired robotic system through an integrated digital twin framework. The study includes detailed kinematic modeling of the robot, employing trigonometric laws to derive closed form solutions for determining joint configurations. The digital twin, developed in NVIDIA Isaac Sim facilitates real-time bi-directional communication between virtual and physical systems. Sensor feedback, including joint angles and range data—is continuously streamed to ensure accurate mirroring and performance tuning. Sliding mode control is then evaluated for trajectory tracking and gait modulation. Experimental validation includes traversal across different surfaces using inverse kinematics-based control. This work highlights the potential of digital twin enabled bio-inspired robots for use in various environments, utilizing appropriate control approaches, with implications in search and rescue, inspection, and exploration of unstructured environments.