2017
DOI: 10.1115/1.4037892
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Locomotion of a Mini Bristle Robot With Inertial Excitation

Abstract: The paper presents a theory of vibratory locomotion, a prototype, and the results of experiments on mini robot, which moves as a result of inertial excitation provided by two electric motors. The robot is equipped with elastic bristles which are in contact with the supporting surface. Vibration of the robot generates the friction force which can push the robot forward or backward. The paper presents a novel model of interaction between the bristles and the supporting surface. The friction force (its magnitude … Show more

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Cited by 4 publications
(8 citation statements)
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“…Larger mechanisms that can tra-verse granular media with similar dynamics to our mechanisms might be constructed by designing the mechanism so that α z ∼ 1, following Eqn. (21). Despite their sensitivity to aerodynamics, we have found that the few gram hopper mechanisms we have constructed are fairly robust, can traverse solid surfaces as well as a variety of granular medium, can traverse granular media in a vacuum, and work when constructed from different types of light platform materials.…”
Section: Summary and Discussionmentioning
confidence: 95%
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“…Larger mechanisms that can tra-verse granular media with similar dynamics to our mechanisms might be constructed by designing the mechanism so that α z ∼ 1, following Eqn. (21). Despite their sensitivity to aerodynamics, we have found that the few gram hopper mechanisms we have constructed are fairly robust, can traverse solid surfaces as well as a variety of granular medium, can traverse granular media in a vacuum, and work when constructed from different types of light platform materials.…”
Section: Summary and Discussionmentioning
confidence: 95%
“…and retaining the definition of the dimensionless parameter α z of Eqn. (21). The length that sets the transition between regimes h PP = (12Lκ) (29) and where we used our estimate for the permeability κ from in section 3.2 (see Eqn.…”
Section: Plane Poiseuille Flowmentioning
confidence: 99%
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