Inclined-Legs Actuator Inspired By Setaria Viridis

In this study, an inclined-leg actuator inspired by Setaria viridis was developed. The actuator can be driven by external vibration utilizing friction anisomorphism of inclined legs. Small-sized inclined-leg actuators were designed and fabricated, considering as parameters the angles and lengths of the legs; their friction anisomorphism was evaluated and the corresponding mechanisms were considered. Moreover, the running velocities of the actuators were measured when vibrations with different frequencies were applied. The experimental results confirmed that the actuators run with different mechanisms between lower and higher frequencies.