Control System Design for the Capsubot

	Control System Design for the Capsubot
	Li HY(李洪谊); Namkon Lee; Norihiro Kamamichi; Katsuhisa Furuta
专著(文集)名	Emergent Problems in Nonlinear Systems and Control
其他责任者	Ghosh, Bijoy
	2009
出版者	SPRINGER-VERLAG ; SPRINGER-VERLAG
出版地	Berlin ; Berlin
出处页码	107-123
出版者	SPRINGER-VERLAG ; SPRINGER-VERLAG
出版地	Berlin ; Berlin
收录类别	EI ; CPCI（ISTP）
产权排序	1
中文摘要	In this paper, a capsule type robot, named the Capsubot, is designed. The robot has no moving part outside of its body, no legs and no wheel. Its motion is purely based on its internal force and friction with the environments. A four-step motion pattern is proposed. A minimal energy solution is stated. A prototype capsule robot, consisting a plastic tube with three independently driven copper coils and a NiFeB magnet rod which can move inside the tube, is built. It is essentially a motion magnet linear motor. The motion generation results are verified experimentally.
ISBN号	978-3-642-03626-2
语种	英语
WOS记录号	WOS:000282390100007
内容类型	专著章节/文集论文
源URL	[http://ir.sia.cn/handle/173321/9006]
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	Li HY,Namkon Lee,Norihiro Kamamichi,et al. Control System Design for the Capsubot. Emergent Problems in Nonlinear Systems and Control. Berlin, Berlin:SPRINGER-VERLAG, SPRINGER-VERLAG,2009:107-123.