Dynamics of controlled motion of vibration-driven systems

The rectilinear motion on a horizontal rough plane of a vibration-driven system consisting of a carrying body, which interacts with the plane directly, and of internal masses that perform harmonic oscillations relative to the carrying body is considered. The vertical and horizontal oscillations of the internal masses have the same frequency, but are shifted in phase. It is shown that by controlling the phase shift of the horizontal and vertical oscillations and their frequencies, it is possible to change the direction and magnitude of the average velocity of the steady motion of the carrying body. A similar system may provide a model of a vibration-driven robot that does not require special limbs (wheels, legs, or chain tracks).