Pneumatic Inchworm that Walks Using a Traveling Wave


On a flight to Boston, I figured out an important graphical technique for designing complex pneumatic circuits. I created asynchropillar. After asychropillar worked so well I got the idea to make an inchworm that used a traveling wave propagating down the body to walk. 

The design of Inchwork is described by these pictures. 

Inchworm walks by sending a compressing/expanding wave from its tail to its head.