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In this paper, we present a robotic locomotor with inertia-based actuation. The goal of this system is to generate various gait modes of a baton, consisting of two masses connected with a massless rod. First, a model for a baton prototype called Pony I is presented. This model incorporates the inertial forces generated by a rotating single pendulum. The model also accounts for the friction forces that arise in the contact points of the baton with the ground surface. We also developed an experimental prototype for a baton with a single-pendulum actuator. Consequently, we compared the nonlinear dynamics of the analytical and experimental systems. An improved double-pendulum actuation system was proposed for better regulation of the locomotion of the system and the orientation of the centrifugal force. Finally, demonstrated that this system generated steady forward locomotion.

In this paper, we present a robotic locomotor with inertia-based actuation. The goal of this system is to generate various gait modes of a baton, consisting of two masses connected with a massless rod. First, a model for a baton prototype called Pony II is presented. This model incorporates the double-action inertial actuation generated by two rotating pendulums, spinning at constant angular velocities in opposite directions. This system allows regulation of the inertial forces generated by the spinning masses. In addition, it provides control over the orientation of the resultant inertial force. Numerical simulations of four stable gaits are presented: dragging, tapping, galloping, and hopping. We also developed an experimental prototype, called Pony II, consisting of the double-action actuators. The robot successfully generates all the simulated gaits. In addition, we show that the robot is capable of generating progression on low friction surfaces.