Dynamic Simulation of a Woodpecker Robot Based on Self-excited Vibration

摘要

This paper studies complex nonlinear dynamic behaviors of a woodpecker robot system which can only operate in the presence of friction as it relies on combined impacts and jamming. The woodpecker robot can periodically move without any drives and controls based on self-excited vibration phenomena. The whole time histories of the dynamic simulations in successive periods indicate its cyclical, stable passive movement.