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M. Quirini, R. J. Webster III, A. Menciassi and P. Dario, “Design of A Pill-Sized 12-Legged Endoscopic Capsule Robot,” IEEE International Conference on Robotics and Automation, Roma, 2007, pp. 1856-1862.

has been cited by the following article:

• TITLE: Control Strategy of Vibrational Capsubot in Viscoelastic Environment

  AUTHORS: Cheng Zhang, Renjia Tan, Hao Liu, Hongyi Li

  KEYWORDS: Control Strategy; Capsubot; Viscoelastic Environment; Swing

  JOURNAL NAME: Engineering, Vol.5 No.10B, December 17, 2013

  ABSTRACT: Active capsule endoscopy is becoming a research hotspot in recent years. We design an active capsule robot (capsubot) with the vibrational mode. The internal force-static friction control strategy which is used in the capsubot is effective in rigid environment but not in viscoelastic environment. A particular viscoelastic material whose parameters are confirmed is set to the viscoelastic environment. We suppose that it is a periodic damped oscillation system when the capsubot make a free vibration in the environment. We propose a new control strategy whose principle is similar to a swing in the environment. The simulation results show that the new strategy is effective.