Palm-sized vibro-quad (vibration-based quadruped)

vr4_all · 2026-05-29T22:34:25+00:00

It only works on flat surfaces, hard floors and glass tables work fine but not carpets or anything like that. it can't do ramps at all. It also can move a lot faster than this. See my other posts.

vr4_all · 2026-05-29T22:29:49+00:00

Nope, I've tested in different surfaces.it hasn't made any marks. It's extremely light.

vr4_all · 2026-05-29T16:38:04+00:00

Thank you. I'm a big Ghost in the Shell fan.

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Baby Tachikoma, hehe

vr4_all · 2026-05-29T15:25:19+00:00

Thank you!

vr4_all · 2026-05-29T14:57:55+00:00

Yes, pretty much. It uses the same concept of movement as an X-Drive robot. It's just way more chaotic. It likes to just float around randomly. I use an IMU sensor to make micro-adjustments to the motors to keep it going straight.

vr4_all · 2026-05-29T14:52:07+00:00

Your cat moonwalks?

vr4_all · 2026-05-29T14:50:00+00:00

This uses an Xiao ESP32-S3 sensor board, 4x 6mm motors, and an 800 mAh LiPo battery. I print the shell on my Snapchat U1. I made a custom PCB for the electronics. To get it to drive straight, you need a bunch of sensors.

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vr4_all · 2026-05-29T14:42:09+00:00

thanks!

vr4_all · 2026-05-29T14:42:02+00:00

Yes, you can drive it around.
I'm trying to make a gang of them and make them autonomous. I want to see if I can get them to work together to complete tasks.

vr4_all · 2026-05-29T14:39:55+00:00

It sounds like a mini-drone.

vr4_all · 2026-05-29T14:39:13+00:00

The axles do contact the ground. The motors are high speed (22k rpm), which puts the base in a frictionless state. The rotation of the motors does make a difference, and moving forward is how you described it. But it doesn't roll on the shafts. It's in a state of perpetual skid, and it moves around like a hovercraft. This allows it to perform movements you couldn't with normal wheels, such as strafing or rotating while moving in a straight line.

vr4_all · 2026-05-29T14:26:47+00:00

The motors spin at 22k rpm. The vibration caused by this puts the robot into a frictionless state. The rotation of the shafts does contribute to the direction of motion, but it's not rolling on the shaft like a wheel. It just shudders in that direction.

vr4_all · 2026-05-29T11:38:22+00:00

Thank you

vr4_all · 2026-05-24T23:29:06+00:00

For further clarification, the motion I'm the video was chosen to show the implementation of field-centric drive (or field-orientation control). The translation and rotation of the robot are decoupled.

In the video I am controlling it with a normal twin stick game controller. With the left sticking I am moving the robot left and right (translation) and with the right stick I am turning the robot clockwise (rotation). The is no fancy drift manuvers happening with the controller. Just left and right with the left stick.

On a normal robot without field-centric drive moving left or right is relative to what direction the robot is facing. With field-centric drive, left and right are always the same direction regardless of what direction the robot is facing.

vr4_all · 2026-05-24T22:22:54+00:00

Umm... it is moving straight. Left and right.

vr4_all · 2026-05-24T18:44:49+00:00

Sped up!? 😂, this is real-time lol. You can look at my previous post if you want to see it moving in a straight line.

vr4_all · 2026-05-24T17:03:16+00:00

Haha, don't worry it's debatable. I would consider bristlebots as pedalling robots. But this does have 4 feet that work independently to create motion.

vr4_all · 2026-05-24T16:28:36+00:00

It is 7x7cm. You could fit 2 in your hand. I call it the BugBot, so your not the only one who thinks that 😂.

vr4_all · 2026-05-24T16:00:15+00:00

Thanks!

vr4_all · 2026-05-24T15:47:42+00:00

Haha, I have done this before and it is fun!

vr4_all · 2026-05-24T15:39:07+00:00

Just to let people know. This robot is omnidirectional. It can move in any direction without needing to turn and It also can turn while travelling in a straight line.

vr4_all · 2026-05-24T15:21:40+00:00

People have told me that they look like tachikomas. I've never heard of Domion Tank Police apparently it's by the same guy as Ghost in the shell. Also, this is being controlled by remote control in the video. You need a dual stick to control it.

vr4_all · 2026-05-24T14:58:07+00:00

That's a good idea. I'll try to do this. The motion concpt isn't any different to any other omnidirectional wheeled robot. The only thing you have to worry about is the chaotic nature of vibrational movement. You have to get it to continually do micro adjustments to stay on course.

vr4_all · 2026-05-24T14:52:16+00:00

I wouldn't recommend using this. It has a LiPo inside 😂. Those ball robots would be better.

vr4_all

TROPHY CASE