Dynamics and control of motion of a capsule robot with an opposing spring

Abstract

The motion of a capsule-type mobile robot along a straight line on a rough horizontal plane ia analyzed and simulated. The robot consists of a housing and an internal body attached to the housing by a spring. The motion of the system is generated by a force that acts between the housing and the internal body and changes periodically in a pulse-width mode. The average velocity of the motion of the robot is studied as a function of the excitation parameters.