Design of a miniaturized locomotion system with variable mechanical compliance based on amoeboid movement

This paper describes a novel biologically inspired locomotion system. The main advantages of amoeboid movement are implemented in a magnetically actuated compliant vibration driven system. The locomotion of the system is based on the periodic deformation of an elastomeric structure including segments with reversible variable mechanical compliance. The movement direction is defined by an asymmetric configuration of the elastomeric structure induced by segments with differing mechanical compliance. The working principle of the system is discussed with the help of modal and transient dynamic analyses. Based on the numerical simulations, two prototypes are developed and verified with experimental tests.