A mechanical model for a type of vibro-bot

Abstract

Thanks to compact structural integration and high locomotion performance, introducing vibration and asymmetric interaction with the ground is known as an important driving strategy in medium-sized (roughly cm ~ dm scale) mobile robots. For vibrations of different relative intensities, the vibro-bot may be in a continuous sliding state during movement (sliding locomotion), or may be in intermittent jumping and sliding states (hopping locomotion). Herein we conduct a mechanical analysis to reveal the locomotion mechanism of the vibro-bot. Specifically, the nonlinear governing equation of the vibro-bot is derived first. By approximately solving the governing equation, the trigger conditions of the sliding and locomotion modes are predicted, the detailed motion process is outlined, and the optimal design strategies to improve sports performance are clarified. This work not only promotes the design of mobile motion robots, but also has enlightening implications for understanding the locomotion behavior of animals with similar motion characteristics.