Abstract
In this paper, 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 proposed motion algorithms utilizing reaction force against the motion of inner mass and friction characteristics. In the previous works, only the input force in horizontal direction was used. Adding an input force in vertical direction leads to variations of friction characteristics and is considered to have possibility to improve the efficiency of locomotion. Proposed methods are investigated by numerical simulations and compared to the previous methods.
