Xiong Zhan

TL;DR: In this article, the stick-slip dynamics of a vibration-driven locomotion system from a sliding bifurcation perspective were analyzed. And a simplified single degree-of-freedom model was established, with the rationality of simplification been explained theoretically and numerically.

TL;DR: Experimental results show that Shell can be controlled to move rectilinearly and along circles with certain curvatures, and by combining these basic trajectories, Shell can move freely on a horizontal plane.

TL;DR: A gait-generation algorithm is proposed by mimicking the earthworm’s retrograde peristalsis wave, with which all admissible locomotion gaits can be constructed, and it is discovered that when controlled by different gaits, the robot would exhibit four qualitatively different locomotion modes, namely, rectilinear, sidewinding, circular, and cycloid locomotion.

TL;DR: In this paper, a vibration-driven system is modelled to achieve the expected planar locomotion in which Coulomb dry friction and nonholonomic constraint of the body are considered to model stick slip effect and to ensure the motion without sideslip.

TL;DR: In this article, three internal and acceleration-controlled masses are used to actuate a rigid body in the horizontal plane, and two typical planar trajectories of the system are proposed and both approached with folding lines.