Efficient Locomotion for Sliding Robots using Squeeze Film Levitation

Abstract

Sliding robotic devices are often employed in sensitive applications, such as medical procedures. These devices rely on frictional interaction with their environment to generate locomotion, which can be significantly enhanced through active friction modulation. In this study, we propose a friction modulating slider that uses ultrasonic vibrations to achieve squeeze film levitation for friction control. This paper describes the design and evaluation of a friction-modulating slider for generating efficient locomotion in a two-slider prototype. The slider’s ability to modulate friction was tested through friction force experiments on a variety of surfaces, and its feasibility for locomotion was tested. The results show that the slider effectively reduced friction across different surfaces and enabled locomotion in the two-slider system. These findings highlight the potential of friction-modulating sliders to enhance the locomotion efficiency of sliding robotic devices, offering promising opportunities for various applications.