抄録
Many capsule robots are designed for moving inside human intestine that has a variety of challenging tasks for medical applications such as drug delivery, disease diagnosis and teleoperated surgical robot. In order to complete relevant medical purpose, these capsule robots need to overcome difficulty for rough terrain traversing. Our developed capsule robot has a smooth outer surface and is driven by inertia force and friction force. According to the smooth outer surface and the pulse driven mechanism, the capsule robot easily slips when it collides with environment. For this reason, this paper proposes an idea to traverse over rough terrain. It is concerned with two important factors, adhesion and movable center of mass. To prevent slips, we have attached small needles for holding its position before going to next position. The results show that the capsule robot pleasingly traverses over a height as high as the radius of the capsule robot. Ultimately, this paper shows a mathematical model for traversing over rough terrain.
