A novel acceleration profile for the motion control of capsubots

Yu, Hongnian; Huda, M. Nazmul; Wane, Samuel Oliver

doi:10.1109/icra.2011.5980344

Cited by 15 publications

(35 citation statements)

References 12 publications

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“…Thus for linear motion both IMs follow the acceleration profile proposed in [12]. As M G = 0, so θ = 0.…”

Section: ) Linear Motionmentioning

confidence: 92%

“…From the acceleration profiles in [12] and [20] desired IMs accelerations for linear and rotational motions are given below:ẍ…”

Section: Control Approachmentioning

confidence: 99%

“…legged [11] iii. internal reaction force propulsion robot [12]) and 3) hybrid propulsion robot (combination of external and internal) [13].…”

Section: Introductionmentioning

confidence: 99%

“…A pendulum-driven cart was analysed in [14] with a six step velocity profile. In [12], motion of a single mass capsubot was explained on the basis of a novel four step acceleration profile and a stand-alone prototype was developed based on the profile. However, except [20] all the capsubots researched so far can only move in one dimension (1D) with their present designs.…”

Section: Introductionmentioning

confidence: 99%

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Experimental study of a capsubot for two dimensional movements

Huda

Goodwin

2012

Proceedings of 2012 UKACC International Conference on Control

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A capsubot (capsule robot) which works on the principle of internal reaction force has no external moving parts whereas a conventional robot has legs and/or wheels. It is an underactuated mechanical system and has a lot of potential applications such as medical diagnosis, underground pipe leakage detection, rescue work in the hazardous environment etc. However, most capsule robots studied/developed can only move in one dimension (1D). This paper presents the implementation of the recently proposed double parallel mass capsubot which uses two parallel inner masses (IMs) to move the capsubot in two dimensions (2D). A three stage control strategy is proposed to resolve the control issue of underactuated mechanical system. A closed-loop control approach is applied to the IMs of the capsubot. The comparison with the simulation studies are also obtained and analyzed.

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“…Thus for linear motion both IMs follow the acceleration profile proposed in [12]. As M G = 0, so θ = 0.…”

Section: ) Linear Motionmentioning

confidence: 92%

“…From the acceleration profiles in [12] and [20] desired IMs accelerations for linear and rotational motions are given below:ẍ…”

Section: Control Approachmentioning

confidence: 99%

“…legged [11] iii. internal reaction force propulsion robot [12]) and 3) hybrid propulsion robot (combination of external and internal) [13].…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Experimental study of a capsubot for two dimensional movements

Huda

Goodwin

2012

Proceedings of 2012 UKACC International Conference on Control

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“…An iterative learning control scheme was designed for a capsubot in [13] and a classic model predictive control approach for a time delay capsubot system is presented in [14] which uses a linearized model for predicting system behaviour. In [15], a four-step acceleration prole for the inner mass of a capsubot system is proposed.…”

Section: Introductionmentioning

confidence: 99%

Optimal Controller Design of Legless Piezo Capsubot Movement

Farahani

Suratgar

Talebi

2013

International Journal of Advanced Robotic Systems

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This paper presents an optimal control method based on control effort minimization for a legless piezo capsubot. The capsubot is an underactuated nonlinear dynamics system which is driven by an internal impact force and friction. Here, the motion mechanism of the capsubot is divided into two stages. In the rst stage, the aim is to design an optimal controller minimizing energy consumption. In the second stage, optimization is not an objective and instead a four-step strategy for inner mass of the capsubot is proposed. Then, based on the proposed motion strategy, a trajectory prole is given. Using this trajectory prole, the capsubot moves in the desired direction. To evaluate the performance of the proposed control scheme, a comparative study has been performed by means of simulation. Simulation results show that the proposed approach is promising as compared to the Open-Loop Control (OLC) approach and Close-Loop control (CLC) approach which are widely used in the literature for control of capsubots.

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