Many crawling organisms such as caterpillars and worms use a method of movement in which two or more anchor points alternately push and pull the body forward at a constant frequency. In this paper we present a milliscale push–pull robot which is capable of operating across a wide range of actuation frequencies thus enabling us to expand our understanding of two-anchor locomotion beyond the low-speed regime. We designed and fabricated a milliscale robot which uses anisotropic friction at two oscillating contact points to propel itself forward in a push–pull fashion. In experiments we varied the oscillation frequency, f , over a wide range (10–250 Hz) and observe a non-linear relationship between robot speed over this full frequency range. At low frequency ( f < 100 Hz) forward speed increased linearly with frequency. However, at an intermediate push–pull frequency ( f > 100 Hz) speed was relatively constant with increasing frequency. Lastly, at higher freq...

中文翻译：

---

从毫尺度棱柱推拉 (3P) 机器人快速爬行的双锚。

许多爬行生物如毛毛虫和蠕虫使用一种运动方法，其中两个或多个锚点以恒定频率交替推动和拉动身体。在本文中，我们提出了一种毫尺度推拉机器人，它能够在很宽的驱动频率范围内运行，从而使我们能够将我们对双锚运动的理解扩展到低速状态之外。我们设计并制造了一个微型机器人，它在两个振荡接触点使用各向异性摩擦力以推拉方式向前推进。在实验中，我们在很宽的范围内（10-250 Hz）改变了振荡频率 f，并观察了机器人速度在整个频率范围内的非线性关系。在低频（f < 100 Hz）下，前进速度随频率线性增加。然而，在中间推挽频率（f > 100 Hz）下，速度随着频率的增加而相对恒定。最后，在更高的频率...