The single wheel has three resistance forces during the steering - the contact frictional force, the wheel rolling resistance and the scrubbing torque.
It included hosed running water, a scrubbing brush, and/or coarse mat and a shallow tray.
These repetitive rhythmic waves are too fast to be soothing, and have a sense of industry that is perhaps reminiscent of sweeping, scrubbing or polishing.
The novel castor is designed to change the scrubbing torque into a rolling resistance during its steering.
It causes the microrobot lower wheel scrubbing resistance, as opposed for conventional structure.
It comes complete with water tanks, brushes and all the other tools needed for heavy-duty scrubbing.
A faster zig-zag, scrubbing-like movement in which the beater never loses contact with the key surface also appears frequently.
For a normal wheel, the steering actuator need to overcome the scrubbing torque, which results in heavy power consumption and sliding of the microrobot.
