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

Cicconofri, Giancarlo; Becker, Felix; Noselli, Giovanni; DeSimone, Antonio; Zimmermann, Klaus

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

Cited by 10 publications

(13 citation statements)

References 7 publications

(17 reference statements)

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“…This behaviour has been already revealed in a bristle-bot featured by flexible joints between the bristles and the substrate [20,21]. The one we present here possesses rigid bristles.…”

Section: Ii23 Bristle Padssupporting

confidence: 74%

A soft robot structure with limbless resonant, stick and slip locomotion

Calabrese¹,

Berardo²,

Rossi³

et al. 2019

Smart Mater. Struct.

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We present a smart robot structure that exploits anisotropic friction to achieve stick-slip locomotion. The robot is made out of three components: a plastic beam, a planar dielectric elastomer actuator and four bristle pads with asymmetric rigid metallic bristles. We show that when the robot is electronically activated at increasing frequency, its structure exploits the resonance condition to reach the maximum locomotion speed. The fundamental frequency of the structure is estimated both analytically and numerically, allowing the range of frequencies in which the top locomotion speed was observed during the experiments to be identified. The locomotion speed of the robot as a function of the actuation frequency is estimated with a frequency response analysis performed on a discretised model of the structure, revealing good agreement with the experimental evidence.

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“…This behaviour has been already revealed in a bristle-bot featured by flexible joints between the bristles and the substrate [20,21]. The one we present here possesses rigid bristles.…”

Section: Ii23 Bristle Padssupporting

confidence: 74%

A soft robot structure with limbless resonant, stick and slip locomotion

Calabrese¹,

Berardo²,

Rossi³

et al. 2019

Smart Mater. Struct.

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“…The possibility of backward locomotion in bristlebots was first predicted in [6] using a wet friction model, and further theoretically analyzed in [7], and experimentally observed for a macro-scale bristlebot (with > 10 cm feature size) using an external shaker [1]. Our work reports on the theoretical analysis of the bidirectional motion using Coulomb dry friction model, similar to the model used in [11].…”

Section: Introductionmentioning

confidence: 84%

“…At the other extreme, consider the artificial case in which µ s = 0 and µ k > 0. This is essentially the friction model used by [1]. We saw in the previous section that the introduction of µ k results in the bifurcation of resonance frequencies, and the equilibrium points, one for when the leg is slipping forward and one for when the leg is slipping backwards.…”

Section: Friction Resonance and Dampingmentioning

confidence: 99%

“…Bristle robots are known for their relatively simple structure (i.e. no moving parts), simple actuation method, and their high speed of locomotion [1]. While applications such as pipe inspection [2,3] have been proposed, bristle-bots also serve as excellent models for studying swarm and collective behavior [4,5], as well as animal locomotion [6].…”

Section: Introductionmentioning

confidence: 99%

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On the Forward and Backward Motion of Milli-Bristle-Bots

Kim,

Hao,

Mohazab

et al. 2020

Preprint

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This works presents the theoretical analysis and experimental observations of bidirectional motion of a millimeter-scale bristle robot (milli-bristle-bot) with an on-board piezoelectric actuator. First, the theory of the motion, based on the dry-friction model, is developed and the frequency regions of the forward and backward motion, along with resonant frequencies of the system are predicted. Secondly, milli-bristle-bots with two different bristle tilt angles are fabricated, and their bidirectional motions are experimentally investigated. The dependency of the robot speed on the actuation frequency is studied, which reveals two distinct frequency regions for the forward and backward motions that well matches our theoretical predictions. Furthermore, the dependencies of the resonance frequency and robot speed on the bristle tilt angle are experimentally studied and tied to the theoretical model. This work marks the first demonstration of bidirectional motion at millimeter-scales, achieved for bristle-bots with a single on-board actuator.

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“…Bristle-bots have also been popular in the field of small robotic system design (either soft or rigid) due to vibration-driven characteristic and compactness. Cicconofri et al presented a bristle-bot that was made of a polymer material for the body and two paper legs and its modeling [14]. Studies from various perspectives have been reported; for instance, the group behavior of multiple bristle-bots [15], the design of a millimeter-scale bristle robot (body length less than 10 mm) [16], and so on.…”

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

Cited by 10 publications

References 7 publications

A soft robot structure with limbless resonant, stick and slip locomotion

A soft robot structure with limbless resonant, stick and slip locomotion

On the Forward and Backward Motion of Milli-Bristle-Bots

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

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