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A 1 cm coin vibrational motor fixed to the center of a 4 cm square foamplatform moves rapidly across granular media (poppy seeds, millet, corn meal)at a speed of up to 30 cm/s, or about 5 body lengths/s. Fast speeds areachieved with dimensionless acceleration number, similar to a Froude number, upto 50, allowing the light-weight 1.4 g mechanism to remain above the substrate,levitated and propelled by its kicks off the surface. The mechanism is low costand moves without any external moving parts. With 2 s exposures we photographthe trajectory of the mechanism using an LED blocked except for a pin-hole andfixed to the mechanism. Trajectories can exhibit period doubling phenomenasimilar to a ball bouncing on a vibrating table top. A two dimensionalnumerical model gives similar trajectories, though a vertical drag force isrequired to keep the mechanism height low. We attribute the vertical drag forceto aerodynamic suction from air flow below the mechanism base and through thegranular substrate. Our numerical model suggests that speed is maximized whenthe mechanism is prevented from jumping high off the surface. In this way themechanism resembles a galloping or jumping animal whose body remains nearly atthe same height above the ground during its gait.

A Light-weight Vibrational Motor Powered Recoil Robot that Hops Rapidly Across Granular Media