Modelling and motion control of a novel double parallel mass capsubot

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.