Аннотация:This paper presents model-based and experimental investigations of the motion of a capsule-type robot with an opposing spring. The periodic pulse-width excitation signal is controlled by two parameters: the period and the duty cycle. It is demonstrated that the magnitude and the sign of the average velocity of the robot can be controlled by tuning any of the excitation parameters. The resonance-induced change in the direction of motion is shown.
ISBN No. 978-88-944229-0-0
