著者

池上 怜士 田邊 頌平 釜道 紀浩

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2014 (ISSN:24243124)

巻号頁・発行日

pp._1P2-O03_1-_1P2-O03_4, 2014-05-24 (Released:2017-06-19)

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This paper describes a motion control method for a capsule-type robot which consists of an outside capsule and a movable inner mass. To realize efficient motions, we propose a motion algorithm utilizing friction characteristics and collision phenomena. Proposed methods are investigated by theoretical analysis and numerical simulations.