An Approach to the Dynamics of a Vibration-Driven Robot

Becker, Felix; Lysenko, Victor; Minchenya, V. T.; Zeidis, Igor; Zimmermann, Klaus

doi:10.1007/978-3-7091-1379-0_37

Cited by 8 publications

(12 citation statements)

References 4 publications

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“…In [4] , the motion of a bristle bot is studied by modelling it as a multi-body system. The system considered has a main body supported by a number of weightless elements which are attached to the main body by means of torsional springs.…”

Section: Literature Reviewmentioning

confidence: 99%

“…The chassis is designed to inspect pipes of 25 mm diameter but it can be easily replaced in order to inspect pipes of different diameters. The study also analyzed the motion behaviour of the prototype using an analytical model which is a slight modification of the model presented in [4]. The difference is that the current model has to overcome a constant resistive force F c (in addition to dry friction) while moving and it is driven only by a single point mass oscillating in the vertical direction.…”

Section: Literature Reviewmentioning

confidence: 99%

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Dynamics of a Vibration Driven Bristlebot

Gandra

Tallapragada

2019

Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Syst

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Vibration driven robots such as the so called bristlebot and kilobot utilize periodic forced vibration of an internal mass to achieve directed locomotion. These robots are supported on an elastic element such as bristles or cilia and contain an internal mass that is driven to oscillate at a high frequency. Besides well known applications in investigating swarming behavior, such robots have potential applications in rescue operations in rubble, inspections of pipes and other inaccessible confined areas and in medical devices where conventional means of locomotion is ineffective. Bristlebot or its commercially available variants such as hexbugs are popular toy robots. Despite the apparent simplicity of these robots, their dynamic behavior is very complex. Vibration robots have attracted surprisingly few analytical models, those models that exist can only explain some regimes of locomotion. In this paper, a wide range of motion dynamics of a bristlebot is explored using a mathematical model which accounts for slip-stick motion of the bristles with the substrate. Analytical conditions for the system to exhibit a particular type of motion are formulated and the system of equations defining the motion are solved numerically using these conditions. The numerical simulations show transitions in the kinds of locomotion of a bristlebot as a function of the forcing frequency. These different kinds of locomotion include stick-slip and pure slip motions along with the important phenomenon of the reversal of the direction of motion of the robot. In certain ranges of frequencies, the robot can lose contact with the ground and ‘jump’. These different regimes of locomotion are a result of the nonlinear vibrations of the robot and the friction between the robot’s bristles and the ground. The results of this paper can potentially lead to more versatile vibration robots with predictable and controllable dynamics.

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Section: Literature Reviewmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

Dynamics of a Vibration Driven Bristlebot

Gandra

Tallapragada

2019

Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Syst

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“…Applications of bristle bots can be found in inspection technology [10], search and rescue systems [6], and swarm robotic research [5]. The mechanism underlying their locomotion capabilities has been studied in [7,1,5,3]. To change motion direction of bristle-based mobile robots the following methods have been reported in the literature: changing the rotation direction of an unbalanced motor [9], using the phase shift between two unbalanced rotors [7] or changing the inclination of the bristle system using additional actuators [8].…”

Section: Introductionmentioning

confidence: 99%

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

Cicconofri

Becker

Noselli

et al. 2016

ROMANSY 21 - Robot Design, Dynamics and Control

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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.

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“…Becker developed a bristle-bot, described the kinetic energy and potential energy explicitly, and presented the movement of his robotic system including anisotropic friction based on the principle of virtual work. He also proposed an approach in which the Euler-Lagrange equation served as a primary tool to obtain the equation of motion [19,20]. Therefore, by following the above-mentioned approaches, we can obtain the dynamic model of soft robotic systems.…”

Section: Introductionmentioning

confidence: 99%

“…In addition to our design approach, we also introduce two dynamic models: an HSA model and an interactive control model between the HSAM and a mass, respectively. By following the approaches introduced in [18,19], we first derive the HSA model. We also introduce a system identification process to estimate unknown frictional parameters based on empirical data.…”

Section: Introductionmentioning

confidence: 99%

A Hybrid Soft Actuator Inspired by Grass-Spike: Design Approach, Dynamic Model, and Applications

Choi

Lee

et al. 2020

Applied Sciences

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This paper presents the bio-mimetic design approach, the dynamic model, and potential applications for a hybrid soft actuator. The proposed hybrid soft actuator consists of two main parts: a cylinder-shaped rigid core and soft silicone spikes wrapped around the core’s surface. The key idea of the proposed design approach is to mimic the movement of a grass-spike at a functional level by converting the vibration force generated by a small electric motor with a counterweight in the rigid core into a propulsion force produced by the elastic restoration of the spikes. One advantage of this design approach is that the hybrid soft actuator does not need to be tethered by a tube line from an air compressor and is more amenable to fine control. In addition, the hybrid soft actuator can be modularized with a wire and a tubular passage, which in turn work as a linear actuator. The dynamic model of the hybrid soft actuator can be derived by applying Lagrangian mechanics, and unknown system parameters can be identified by the optimization process based on the empirical data. Two applications—an elbow manipulator and a robotic hand grasper—demonstrate the feasibility of the proposed actuator to perform a muscle-tendon action successfully.

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An Approach to the Dynamics of a Vibration-Driven Robot

Cited by 8 publications

References 4 publications

Dynamics of a Vibration Driven Bristlebot

Dynamics of a Vibration Driven Bristlebot

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

A Hybrid Soft Actuator Inspired by Grass-Spike: Design Approach, Dynamic Model, and Applications

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