Experimental study of a capsubot for two dimensional movements

M. Nazmul Huda, Hongnian Yu, Michael J. Goodwin

    Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

    4 Citations (Scopus)


    A capsubot (capsule robot) which works on the principle of internal reaction force has no external moving parts whereas a conventional robot has legs and/or wheels. It is an underactuated mechanical system and has a lot of potential applications such as medical diagnosis, underground pipe leakage detection, rescue work in the hazardous environment etc. However, most capsule robots studied/developed can only move in one dimension (1D). This paper presents the implementation of the recently proposed double parallel mass capsubot which uses two parallel inner masses (IMs) to move the capsubot in two dimensions (2D). A three stage control strategy is proposed to resolve the control issue of underactuated mechanical system. A closed-loop control approach is applied to the IMs of the capsubot. The comparison with the simulation studies are also obtained and analyzed.
    Original languageEnglish
    Title of host publication2012 UKACC International Conference on Control (CONTROL)
    Number of pages6
    ISBN (Electronic)978-1-4673-1560-9, 978-1-4673-1558-6
    ISBN (Print)978-1-4673-1559-3
    Publication statusPublished - 2012
    Event2012 UKACC International Conference on Control, CONTROL 2012 - Cardiff, United Kingdom
    Duration: 3 Sept 20125 Sept 2012


    Conference2012 UKACC International Conference on Control, CONTROL 2012
    Country/TerritoryUnited Kingdom


    • Acceleration
    • underactuated mechanical system
    • two-dimensional movements
    • three stage control strategy
    • surgery
    • robot dynamics
    • parallel inner masses
    • Mobile robots
    • legged locomotion
    • internal reaction force principle
    • Force
    • double parallel mass capsubot
    • DC motors
    • closed loop systems
    • closed loop control
    • capsule robot

    ASJC Scopus subject areas

    • Control and Systems Engineering


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