姿勢制御可能な振動衝撃式自走カプセルロボットの設計と実験的検討
Design and experimental investigation of a vibro-impact self-propelled capsule robot with orientation control
電磁アクチュエータで進行方向を傾けられる振動衝撃式カプセルロボットを設計し、2つの制御戦略をシミュレーションと実験で比較して大腸内視鏡への有効性を示した。
著者: Jiajia Zhang, Jiyuan Tian, Dibin Zhu, Yang Liu, Shyam Prasad
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper presents a novel design and experimental investigation for a self-propelled capsule robot that can be used for painless colonoscopy during a retrograde progression from the patient's rectum. The steerable robot is driven forward and backward via its internal vibration and impact with orientation control by using an electromagnetic actuator. The actuator contains four sets of coils and a shaft made by permanent magnet. The shaft can be excited linearly in a controllable and tilted angle, so guide the progression orientation of the robot. Two control strategies are studied in this work and compared via simulation and experiment. Extensive results are presented to demonstrate the progression efficiency of the robot and its potential for robotic colonoscopy.
関連論文
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