The Inversion of Motion of Bristle Bots: Analytical and Experimental Analysis

被引：13

作者：

Cicconofri, Giancarlo ^{[1
]}

Becker, Felix ^{[2
]}

Noselli, Giovanni ^{[1
]}

Desimone, Antonio ^{[1
]}

Zimmermann, Klaus ^{[2
]}

机构：

[1] SISSA, Int Sch Adv Studies, I-34014 Trieste, Italy

[2] Tech Univ Ilmenau, Tech Mech Grp, Ilmenau, Germany

来源：

ROMANSY 21 - ROBOT DESIGN, DYNAMICS AND CONTROL | 2016年 / 569卷

关键词：

D O I：

10.1007/978-3-319-33714-2_25

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Bristle bots are vibration- driven robots actuated by the motion of an internal oscillating mass. Vibrations are translated into directed locomotion due to the alternating friction resistance between robots' bristles and the substrate during oscillations. Bristle bots are, in general, unidirectional locomotion systems. In this paper we demonstrate that motion direction of vertically vibrated bristle systems can be controlled by tuning the frequency of their oscillatory actuation. We report theoretical and experimental results obtained by studying an equivalent system, consisting of an inactive robot placed on a vertically vibrating substrate.

引用

页码：225 / 232

页数：8

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