Fig. 3
From: The WORMESH-II flatworm-like mesh robot with 2-DOF double joints
The difference between the WORMESH-I and WORMESH-II concepts. a WORMESH-I is composed of Cubic modules that are joined to one another via a joint mechanism. Because of this connection, the joint mechanism can make direct touch with the ground. b This issue was fixed in WORMESH-II by substituting a joint module for the joint mechanism that was used in WORMESH-I