カプセル型ロボットの運動制御

―数値最適化による内部質点の水平・鉛直動作生成―

抄録

In this study, we aim to improve the mobility of the capsule type robot by generating horizontal and vertical motion patterns of inner mass. The motion patterns of the inner mass are generated using Bezier curves, and the control points of the Bezier curves are determined by numerical optimization. The model of the capsule type robot is constructed, the motion patterns of the inner mass are generated, and the results are verified by simulation. As a result of the simulation, it is confirmed that the of movement of the capsule type robot is improved by using the proposed method of the inner mass.