Friction Modulation Through Normal Vibrations in an Inchworm-Inspired Robot

Abstract

The inchworm’s locomotion strategy has significantly influenced bionic robotics research, guiding efforts to mimic its structural and movement characteristics. This study introduces an innovative method to modulate horizontal friction in an inchworm-inspired robot using normal vibrations. By harnessing the dynamics between friction forces, self-deformation, and vibrational stimuli, the robot can mimic crawling motion. Employing D’Alembert principle, numerical simulations are conducted to analyze the robot’s translational motion in response to variable normal vibrations and friction coefficients. The findings reveal that an increase in the frequency of excitations initially enhances the robot’s velocity, which then diminishes after a certain threshold, signifying that the feasibility of achieving precise control via normal vibrations. This study contributes to tribology and sophisticated robotic locomotion paradigms.

Keywords: inchworm-inspired robot, friction modulation, deformation, vibration