Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot

M. Nazmul Huda, Pengcheng Liu, Chitta Saha, Hongnian Yu

Research output: Contribution to journalArticlepeer-review

14 Citations (Scopus)
12 Downloads (Pure)


This paper presents a miniature hybrid capsule robot for minimally invasive in-vivo interventions such as capsule endoscopy within the GI (gastrointestinal) tract. It proposes new modes of operation for the hybrid robot namely hybrid mode and anchoring mode. The hybrid mode assists the robot to open an occlusion or to widen a narrowing. The anchoring mode enables the robot to stay in a specific place overcoming external disturbances (e.g. peristalsis) for a better and prolonged observation. The modelling of the legged, hybrid and anchoring modes are presented and analysed. Simulation results show robot propulsions in various modes. The hybrid capsule robot consisting four operating modes is more effective for the locomotion and observation within GI tract when compared to the locomotion consisting a single mean of locomotion as the hybrid robot can switch among the operating modes to suit the situation/task.
Original languageEnglish
Pages (from-to)753-764
Number of pages12
JournalJournal of Intelligent and Robotic Systems
Issue number3-4
Early online date19 Mar 2020
Publication statusPublished - Dec 2020


  • Anchoring mode
  • Capsule endoscopy
  • Hybrid capsule robot
  • In-vivo diagnosis
  • Legged mode
  • Legless mode
  • Medical robot
  • Modelling

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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