Magnetic Field-Driven Bristle-Bots

Widespread demand for mobile robots is pushing the research envelope for the development of new robot driving mechanisms that can handle diverse environments. Bristle-bot- like robot designs, investigated increasingly over the past decade, are based on vibration mechanisms built on flexible legs that enable motion on the ground. However, creating scalable and steerable bristle-bots remains a challenge. Therefore, we de- veloped a new kind of magnetic field-driven bristle-bots with a wireless control and power supply that can be steered and downscaled. Therefore, in our experimental study with a working prototype, we developed a new kind of magnetic field-driven bristle-bot designed for wireless control and power supply. These bristle-bots can thus be steered and downscaled. We verified our concept experimentally using 3D-printed bristle-bots with body-embedded permanent magnets actuated via torque imposed by an external magnetic field. An AC-powered Helmholtz coil generated the bristle-bot’s driving field, providing 2D input control, field amplitude, and frequency. A variable number of legs on each side of a bristle-bot’s body was used to ensure that each side of these sides has a different frequency response. This asymmetry introduced steerability with a rich set of control commands, including rotations with simultane- ous forward and backward locomotion. We also observed side locomotion not yet described in previous studies. The results presented were supported with data from numerous experiments and thorough statistical analysis, indicating promising directions for future bristle-bot development.