DocumentCode
604261
Title
Design and construction of a mini-robot with terrestrial locomotion
Author
Majewski, T. ; Nunez, M.I.Q.
fYear
2013
fDate
11-13 March 2013
Firstpage
218
Lastpage
224
Abstract
This paper discusses a model of vibratory locomotion with inertial excitation, the design of a mini-robot, the construction of a prototype, and its properties. The prototype had inclined elastic bristles and the excitation was induced by the unbalanced rotor. The model has two degrees of freedom. The motion of the minirobot is defined using two differential equations that use friction force in which magnitude and direction depend on the slipping velocity of bristles.
Keywords
differential equations; elasticity; fibres; friction; legged locomotion; prototypes; rotors; bristle slipping velocity; differential equations; friction force direction; friction force magnitude; inclined elastic bristles; inertial excitation; minirobot design; minirobot motion; minirobot prototype construction; terrestrial locomotion; two-degree-of-freedom; unbalanced rotor; vibratory locomotion; DC motors; Equations; Force; Friction; Mathematical model; Robot kinematics; design; locomotion; mini-robot; vibrations;
fLanguage
English
Publisher
ieee
Conference_Titel
Electronics, Communications and Computing (CONIELECOMP), 2013 International Conference on
Conference_Location
Cholula
Print_ISBN
978-1-4673-6156-9
Type
conf
DOI
10.1109/CONIELECOMP.2013.6525789
Filename
6525789
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