Locomotion of a Mini Bristle Robot With Inertial Excitation

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 and sense) is defined as a function of the robot velocity and the robot's vibrations. The analysis is done for a constant coefficient of friction and a smooth surface. Depending on the motors' speed, one may obtain a rectilinear or a curvilinear motion, without jumping or losing contact with the substrate. The results of the simulation show which way the robot moves, its mean velocity of locomotion, change of the slipping velocity of the bristles and its influence on the normal and the friction force. A prototype was built and experiments were performed with it.