Abstract
We have developed a small and simple locomotion mechanism which consists of a rigid body and a bimrph resonator as an actuator. The locomotion velocity of the mechanism can be controlled by the frequency of driving voltage. Frequency characteristics of the locomotion velocity and the thrust of the mechanism and the amplitude of the free and wired ends of the bimorph piezoelectric actuator are measured and analysed. The locomotion velocity is 24 mm/s at a driving votage of 30 V_<p-p> and a driving frequency of 320 Hz.
