A novel acceleration profile for the motion control of capsubots

This source preferred by Hongnian Yu

This data was imported from DBLP:

Authors: Yu, H., Huda, M.N. and Wane, S.O.


Journal: ICRA

Pages: 2437-2442

Publisher: IEEE

This data was imported from Scopus:

Authors: Yu, H., Huda, M.N. and Wane, S.O.

Journal: Proceedings - IEEE International Conference on Robotics and Automation

Pages: 2437-2442

ISBN: 9781612843865

ISSN: 1050-4729

DOI: 10.1109/ICRA.2011.5980344

In this paper, a novel four-step acceleration profile is proposed for the inner mass (moving part) of a capsubot (capsule robot) system that works on the principle of the internal force-static friction. By using the acceleration profile of the inner mass the capsubot system can move in a given desired direction. Optimum selection of the different parameters of the acceleration profile is investigated considering the design constraints. Comparison of the simulation results with previous proposed profiles demonstrates its superiority. A novel encapsulated capsubot has been developed utilizing the acceleration profile in a self-contained format. © 2011 IEEE.

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