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In this paper we present a study of a specific class of vibration-drivenrobots: the brushbots. In a bottom-up fashion, we start by deriving dynamicmodels of the brushes and we discuss the conditions under which these modelscan be employed to describe the motion of brushbots. Then, we present twodesigns of brushbots: a fully-actuated platform and a differential-drive-likeone. The former is employed to experimentally validate both the developedtheoretical models and the devised motion control algorithms. Finally, acoordinated-control algorithm is implemented on a swarm ofdifferential-drive-like brushbots in order to demonstrate the design simplicityand robustness that can be achieved employing a vibration-based locomotionstrategy.

A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot