ViRob
autonomous motion down a lumen generally involve a relatively complicated mechanism with multiple moving parts, which restricts miniaturization because of current technological limitations. Moreover those techniques often require sequential controlled actuation, thus complicating their operation.
Furthermore most methods commonly used cannot operate in confined spaces such as relatively small pipes, or in environments other than those predetermined for the device. Due to the complexity, the multiplicity of moving parts, the possible need of actuators, and control circuits, sensors and internal power sources, prior art mechanisms suffer size limitations, have complex assemblies and relatively high cost, specifically in narrow environments like pipes where miniaturization is essential. More specifically for medical applications, where there is demand for biocompatible miniature systems with a minimal number of moving parts (for medical safety reasons) prior art mechanisms are generally far from optimal.
Hence, there is a need for an autonomous miniature moving mechanism which should be simple, composed of a minimal number of moving parts and which performs well in different environments.
Locomotion inspired by the peristaltic motion of Annelids, and especially of earthworms, has suggested the use of friction between oscillating micro-structures and the wall of a lumen or the surface to be traversed. Such devices offer promise for a simple robotic autonomous crawling device.
We propose an autonomous robotic device and method for crawling along a juxtaposed surface or surfaces using random vibrations. The device utilizes the effects of the vibrations on the anisotropic friction properties between the surfaces along the length of fibers attached to the device, and the surrounding juxtaposed surface or surfaces. The surrounding surface or surfaces may be the inner wall of a lumen, two bounding walls for confined planar motion, a plane on which the device is disposed for two dimensional planar motion, or an inner guide wire on which the device crawls
