Dynamics and motion control of a capsule robot with an opposing spring
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Non-classical locomotion systems have the perspective for a wide application in the vast fields of bio-medical and maintenance technology. Capsule bots are small, simple, and reliable realizations with a great potential for practical application. In this paper, the motion of a capsule-type mobile robot along a straight line on a rough horizontal plane is studied applying analytical and experimental methods. The robot consists of a housing and an internal body attached to the housing by a spring. The motion of the system is generated by a force that acts between the housing and the internal body and changes periodically in a pulse-width mode. The average velocity of the motion of the robot is studied as a function of the excitation parameters. The results from the model-based and experimental investigations agree with each other. It can be concluded that the presented robot design can be a basis for the creation of mobile robotic systems with locomotion properties that can be controlled by the parameters of a periodic actuation force.
KeywordsMobile robot Motion control Capsubot Locomotion Self-propulsion Vibration-driven system
The research work reported here was partly supported by the Deutsche Forschungsgemeinschaft (Grant ZIM 540 / 19-2) and the Russian Foundation for Basic Research (Grant 17-51-12025).
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