Modelling and motion control of a novel double parallel mass capsubot

M. Nazmul Huda, Hongnian Yu

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper proposes a novel two dimensional capsubot without legs and wheels, and works on the principle of internal force-static friction. It moves forward by the snake-like sliding movement. Two parallel inner masses are controlled to move the capsubot in two dimensions. The dynamic model of the proposed capsubot is developed. Motion generation and the optimum parameter selection of the acceleration profile are investigated. The capsubot is an underactuated mechanical system as there are two control inputs and four outputs. The capsubot can perform linear, rotational and curved motions. © 2011 IFAC.

Original languageEnglish
Pages (from-to)8120-8125
Number of pages6
JournalIFAC papers online
Publication statusPublished - Jan 2011
Event18th IFAC World Congress - Milano, Italy
Duration: 28 Aug 20112 Sep 2011


  • Capsubot
  • Internal force-static friction
  • Motion generation
  • Underactuated system

ASJC Scopus subject areas

  • Control and Systems Engineering


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