圧電振動を用いた移動機会とその摩擦モデル
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概要
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A small mobile machine was built which has two legs made of bimorph piezoelectric actuators. It proceeds by vibrating one leg and making selective use of the friction between the legs and the floor. Simulations were made to investigate how the machine can proceed. The movement of the machine was measured using an accelerometer and compared with the simulation results. The comparison showed that the viscous friction model explains the movement better than the Coulomb friction model. Four-legged machines were also built and tested for multidimensional mobility.
- 社団法人 日本ロボット学会の論文
- 1996-11-15