A novel acceleration profile for the motion control of capsubots

Hongnian Yu, M. Nazmul Huda, Samuel Oliver Wane

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

13 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication 2011 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Pages2437-2442
Number of pages6
ISBN (Electronic)978-1-61284-385-8, 978-1-61284-380-3
ISBN (Print)978-1-61284-386-5
DOIs
Publication statusPublished - 15 Aug 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 9 May 201113 May 2011

Publication series

Name
PublisherIEEE
ISSN (Print)1050-4729
ISSN (Electronic)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period9/05/1113/05/11

Keywords

  • Acceleration
  • Force
  • Friction
  • Simulation
  • Propulsion
  • Endoscopes
  • Robots
  • Stiction
  • Acceleration control
  • medical robotics
  • microbots
  • motion control
  • Internal force-static friction
  • acceleration profile
  • capsubot system
  • capsule robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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