ICRA 2011 Paper Abstract


Paper TuP213.5

Yu, Hongnian (Staffordshire University), Huda, M. Nazmul (Staffordshire University), Wane, Samuel Oliver (Staffordshire University)

A Novel Acceleration Profile for the Motion Control of Capsubots

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems IV" (TuP213), Tuesday, May 10, 2011, 16:25−16:40, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Medical Robots and Systems, Underactuated Robots, Micro/Nano Robots


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.



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