Control system design and experimental verification of Capsubot

This paper is concerned with the development of the capsule robot (Capsubot) which can move with no external parts. It is easy to be constructed in small scale and maybe can be used for medical uses such as the endoscope since the Capsubot moves bidirectionally. The Capsubot could move by exerting friction force through movement of inside mass. This paper shows theoretical analysis and experimental verification of the locomotion for the Capsubot. In the experiment, the motion of inner mass is generated by coils and a magnet. Displacement of the Capsubot is measured by laser sensor and also position of the inside mass is measured. Using the developed test system, the motion of the developed Capsubot is experimentally compared with the one of the theoretical model.