Oscillatory locomotion

The paper presents the dynamic system that moves in continuous way thanks to its vibration. The principle of the method, the mathematical model, and some results are presented. Two or more segments models were taken for the analysis. It is shown that at presence of internal excitation and non-symmetrical Coulomb dry friction a motion with a constant average velocity is possible and this motion is stable. The average velocity is defined as a function of the frequency and amplitude of the excitation.