A Novel Acceleration Profile for the Motion Control of Capsubots
In this paper, a novel four-step acceleration profile is proposed for the inner mass (moving part) of a capsubot (capsule robot) system that works on the principle of the internal force-static friction. By using the acceleration profile of the inner mass the capsubot system can move in a given desired direction. Optimum selection of the different parameters of the acceleration profile is investigated considering the design constraints. Comparison of the simulation results with previous proposed profiles demonstrates its superiority. A novel encapsulated capsubot has been developed utilizing the acceleration profile in a self-contained format.
Hongnian Yu M. Nazmul Huda M. Nazmul Huda
Faculty of Computing,Engineering and Technology,Staffordshire University,UK
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2437-2442
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）