Abstract:
A simple model of a capsule robot is studied. The device moves upon a rough horizontal
plane and consists of a capsule with an embedded motor and an internal moving mass. The motor
generates a harmonic force acting on the bodies. Capsule propulsion is achieved by collisions of
the inner body with the right wall of the shell. There is Coulomb friction between the capsule
and the support, it prevents a possibility of reversal motion. A periodic motion is constructed
such that the robot gains the maximal average velocity.
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