The study of various celestial bodies is of great interest at the present time. Soil studies are being conducted. Vibrating robots could be possible tools for implementing the missions involving moving on the surface of celestial bodies. At the same time, such missions must be safe and sustainable. Such missions are very expensive. And they require high-quality modeling. The dynamics of a vibrating robot is investigated in this work. These structures can move on the surface of various celestial bodies, such as Mars, the Moon or asteroids. Various models can be used as a model of the contact interaction of bodies with a surface, in particular the Amonton-Coulomb law of friction.

中文翻译：

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振动机器人在具有各向异性摩擦力的水平面上的周期性运动模式


目前，对各种天体的研究非常有趣。正在进行土壤研究。振动机器人可能是执行涉及在天体表面移动的任务的可能工具。同时，此类任务必须是安全和可持续的。这样的任务非常昂贵。他们需要高质量的建模。这项工作研究了振动机器人的动力学。这些结构可以在各种天体的表面移动，例如火星、月球或小行星。各种模型可以用作物体与表面接触相互作用的模型，特别是 Amonton-Coulomb 摩擦定律。