A miniature capsulerobot (capsubot) - which has no external moving parts whereas a conventional robot has legs and/or wheels - is suitable for in-vivo applications, engineering diagnosis and pipe inspection. This stu...
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A miniature capsulerobot (capsubot) - which has no external moving parts whereas a conventional robot has legs and/or wheels - is suitable for in-vivo applications, engineering diagnosis and pipe inspection. This study addresses the trajectory-tracking problem of an underactuatedplanar capsubot. A combining piecewise and behaviour-based control algorithm is proposed for trajectory tracking. This study also proposes four motion behaviours, four switching behaviours and one stationary behaviour. A selection algorithm for behaviour-based control and rules for inner mass (IM) motion control in all the behaviours are developed. The partial feedback linearisation control is used for low-level IM motion control while the piecewise and behaviour-based control is used for the capsubot trajectory tracking control.
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