Output details
15 - General Engineering
Bournemouth University
Closed-loop tracking control of a pendulum-driven cart-pole underactuated system
This is the first paper in the development of the modelling and control methods for the capsule robot which has a huge potential in health care (DOI: 10.1109/BIOROB.2006.1639068) and rescue tasks (http://www.techweekeurope.co.uk/news/uk-to-build-6-million-robotics-centre-in-edinburgh-122056). Two subsequent papers based on the methods proposed in this paper have received best student paper awards ('Self-contained capsubot propulsion system', 16th International Conference on Automation and Computing 2010, and 'Experimental study of a capsubot for two dimensional movements', International Conference on Control 2012, pp. 108-113). A further development of this work was filed as a patent (Capsule robot, P52802GB, filed in December 2011).