On the Mechanics of Bristle-Bots - Modeling, Simulation and Experiments
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 6Language: englishTyp: PDF
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Authors:
Becker, Felix; Boerner, Simon; Zeidis, Igor; Zimmermann, Klaus (Technical Mechanics Group, Faculty of Mechanical Engineering, Technische Universitaet Ilmenau, PF 100565, 98684 Ilmenau, Germany)
Lysenko, Victor (Department of Construction and Production of Instruments, Belarusian National Technical University, Pros. Nezavismosti 65, 220027 Minsk, Belarus)
Abstract:
Bristle-bots are simple and tiny robots, which use bristles and internal vibration sources to perform locomotion. In this paper, the locomotion behavior of such systems is studied. An analytical model is presented and solved numerically for different configurations and parameters. The goal is to obtain the influence of the system parameters to the locomotion velocity. The numerical results are compared with experimental studies of a prototype. Furthermore the state of the art of mobile robots with bristles is presented.