Name
Abstract | ||
|---|---|---|
In this paper, locomotion of a capsule robot which is also called the Capsubot is studied. The Capsulbot is two-mass sustem and it moves with no external parts. In the previous our researches for the Capsubot, we have studied to find a proper control input through an optimal control and verified by simulations and experiments. The previous study for the Capsubot, however, was totally based on open-loop control, same results are not guaranteed if the Capsubot is placed in a rough surface condition and circumstance. Then, sliding mode control method is derived in this paper because of its robustness to a parameter changes. The validity of the proposed method is verified by numerical simulations. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBIO.2009.5420743 | Robotics and Biomimetics |
Keywords | Field | DocType |
previous study,open-loop control,parameter change,optimal control,positioning control,external part,proper control input,numerical simulation,capsule robot,mode control method,acceleration,open loop systems,robots,force,simulation,robustness,friction,mobile robots,sliding mode control | Optimal control,Control theory,Control engineering,Robustness (computer science),Acceleration,Engineering,Robot,Open-loop controller,Mobile robot,Sliding mode control | Conference |
ISBN | Citations | PageRank |
978-1-4244-4775-6 | 1 | 0.41 |
References | Authors | |
4 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Namkon Lee | 1 | 1 | 0.41 |
| Norihiro Kamamichi | 2 | 86 | 13.96 |
| Jun Ishikawa | 3 | 10 | 6.60 |
| Katsuhisa Furuta | 4 | 167 | 76.43 |