Flexible peristaltic robot with built-in bidirectional gas pump for self-regulating gas flow

A flexible peristaltic robot with a built-in bidirectional gas pump for self-regulating gas flow, comprising:

• a head-end airbag;
• a extension-retraction airbag;
• a tail-end airbag;
• a power module;
• a control module;
• a bidirectional gas pump;
• and
• an additional airbag;
• wherein the power module is configured to supply power to the bidirectional gas pump and the control module;
• the head-end airbag, the extension-retraction airbag and the tail-end airbag are connected in sequence along an axial direction;
• the control module is configured to control the bidirectional gas pump to inflate and deflate the head-end airbag, the extension-retraction airbag and the tail-end airbag, such that the head-end airbag and the tail-end airbag are expanded or contracted along a radial direction, and the extension-retraction airbag is extended or retracted along the axial direction;
• and
• the additional airbag is configured to store gas.