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.
|Titolo:||The Inversion of Motion of Bristle Bots: Analytical and Experimental Analysis|
|Autori:||Cicconofri, Giancarlo; Becker, F; Noselli, Giovanni; De Simone, Antonio; Zimmermann, K.|
|Titolo del libro:||ROMANSY 21 - robot design, dynamics and control : proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy|
|Data di pubblicazione:||2016|
|Digital Object Identifier (DOI):||10.1007/978-3-319-33714-2_25|
|Appare nelle tipologie:||2.1 Book chapter|