Design and Construction of a Mini-robot with Terrestrial Locomotion

摘要

This paper discusses a model of vibratory locomotion with inertial excitation, the design of a mini-robot, the construction of a prototype, and its properties. The prototype had inclined elastic bristles and the excitation was induced by the unbalanced rotor. The model has two degrees of freedom. The motion of the mini- robot is defined using two differential equations that use friction force in which magnitude and direction depend on the slipping velocity of bristles.