Design and construction of a mini-robot with terrestrial locomotion

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.