This research demonstrates improved locomotion in capsule robots using a nonlinear von Mises truss, highlighting the role of bifurcation analysis.
This study explores the integration of a von Mises truss into a vibro-impact capsule robot, a piecewise-smooth dynamical system known for its complex coexistence of attractors, to enhance its progression speed. The research employs numerical bifurcation analysis to evaluate the effects of frequency and amplitude of the robot’s driving force on its locomotion. Utilizing numerical continuation techniques within the COCO platform (Dankowicz Schilder), we systematically compare the periodic responses of capsule robots both with and without the von Mises truss.
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