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题名:
Control System Design for the Capsubot
作者: Li HY(李洪谊); Namkon Lee; Norihiro Kamamichi; Katsuhisa Furuta
作者部门: 机器人学研究室
专著(文集)名: Emergent Problems in Nonlinear Systems and Control
编著者: Ghosh, Bijoy
出版者: SPRINGER-VERLAG
出版地: Berlin
出版日期: 2009
ISBN号: 978-3-642-03626-2
出处页码: 107-123
收录类别: EI ; CPCI(ISTP)
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.
语种: 英语
产权排序: 1
EI收录号: 20094412407463
WOS记录号: WOS:000282390100007
Citation statistics:
内容类型: 专著章节/文集论文
URI标识: http://ir.sia.cn/handle/173321/9006
Appears in Collections:机器人学研究室_专著章节/文集论文

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Recommended Citation:
Li HY,Namkon Lee,Norihiro Kamamichi,et al. Control System Design for the Capsubot. Emergent Problems in Nonlinear Systems and Control. Berlin:SPRINGER-VERLAG,2009:107-123.
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