Vibration-Based Robot Locomotion

About this Research Topic

Background

In mechanical systems with elastic elements, there are modes of vibration with specific natural frequencies. Depending on the number and properties of the elastic and inertial elements in the system, these free vibration modes can be preset, just like tuning a musical instrument. In this way, when the system is driven by a vibration source, the mechanical system can make pre-planned movements. This method is used for positioning complex parts in manufacturing. In recent years, this method has been able to reveal an approach that increases energy efficiency, especially in periodically moving mechanical systems such as robot locomotion.

Thanks to legs, mobile robots can reach places that wheeled vehicles cannot reach by imitating the movements of living things. However, legged locomotion methods such as walking, running and jumping are quite inefficient in terms of energy due to impact loads. This problem can be overcome by using elastic leg structures and elastic actuators at the joints. However, the use of elastic structural elements necessitates the use of an actuation method compatible with the natural frequencies of these elements. These elastic mechanisms can create surprisingly energy-efficient and stable locomotion mechanisms. In this Research Topic, it is aimed to use vibration as a control method, especially in soft robotic locomotion mechanisms where repetitive movements are in question, and even to use it as an actuation tool together with control and to examine the effectiveness of such a control method.

This research topic mainly aims to emphasize the soft (elastic) robots and the use of vibration as a control and actuation method in elastic robots. The scope of this research topic is mobile robots with elastic elements, vibration-based locomotion, control and actuation systems of elastic robots. Areas to be covered in this research topic may include, but are not limited to:

• Vibration-based actuation,
• Vibration control,
• Vibration-driven locomotion,
• Modal locomotion,
• Vibrating transfer conveyors,
• Vibration feeder

Keywords: vibration, resonance, robot, locomotion, actuation, control

Important note: All contributions to this Research Topic must be within the scope of the section and journal to which they are submitted, as defined in their mission statements. Frontiers reserves the right to guide an out-of-scope manuscript to a more suitable section or journal at any stage of peer review.

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