Driesen, W.Breguet, J.-M.Clavel, R.2006-07-102006-07-102006https://infoscience.epfl.ch/handle/20.500.14299/232559This paper presents a novel locomotion concept for mobile micro robots: the “friction drive principle”. It allows for easy miniaturization and high velocities for low power consumption and simple onboard electronics. A prototype (Ø20 mm × 7.5 mm) with two degrees of freedom (X and Y) is presented. The measured velocity (up to 2.5 mm/s) and its dependency on the actuation frequency and phase shift are compared to the simulated results of a mathematical model of the actuator.[HPR-MR]roboticsmicroengineeringfriction drivelocomotionmobile micro robottext::conference output::conference paper not in proceedings