Control System Design and Experimental Verification of Capsubot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Control System Design and Experimental Verification of Capsubot
	Lee, Namkon; Kamamichi, Norihiro; Li HY(李洪谊); Furuta, Katsuhisa
	2008
会议名称	IEEE/RSJ International Conference on Intelligent Robots and Systems
会议日期	September 22-26, 2008
会议地点	Nice, FRANCE
页码	1927-1932
中文摘要	This paper is concerned with the development of the Capsule Robot (Capsubot) which can move with no external parts. It is easy to be constructed in small scale and maybe can be used for medical uses such as the endoscope since the Capsubot moves bidirectionally. The Capsubot could move by exerting friction force through movement of inside mass. This paper shows theoretical analysis and experimental verification of the locomotion for the Capsubot. In the experiment, the motion of inner mass is generated by coils and a magnet. Displacement of the Capsubot is measured by laser sensor and also position of the inside mass is measured. Using the developed test system, the motion of the developed Capsubot is experimentally compared with the one of the theoretical model.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, Robot Soc Japan, IEEE Robot & Automat Soc, IEEE Ind Elect Soc, Soc Instrument & Control Engineers, Inst Natl Rech Informat & Automat, CNRS, Inst Control, Roibot & Syst
会议录	2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-2057-5
WOS记录号	WOS:000259998201088
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8617]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Lee, Namkon,Kamamichi, Norihiro,Li HY,et al. Control System Design and Experimental Verification of Capsubot[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Nice, FRANCE. September 22-26, 2008.