dc.contributor.author
Ivanov, Aleksandr P.
dc.identifier
978-84-949194-5-9
dc.identifier
https://hdl.handle.net/2117/189975
dc.description.abstract
A capsule robot (capsubot) without external drivers is considered. The device consists of a shell, an actuator, and certain equipment. It can move on a rough surface due to the controlled movement of an internal mass and external friction. The mass is driven by the actuator according to a given program, which ensures the movement of the shell due to the inertia forces. The system includes an elastic spring, connecting the shell with the internal mass. A control is proposed that allows to maximize the average velocity under given technological restrictions.
dc.format
application/pdf
dc.subject
Àrees temàtiques de la UPC::Matemàtiques i estadística::Anàlisi numèrica::Mètodes en elements finits
dc.subject
Finite element method
dc.subject
Coupled problems (Complex systems) -- Numerical solutions
dc.subject
Capsule Robots, Friction Based Locomotion, Optimal Control
dc.subject
Elements finits, Mètode dels
dc.title
On the optimization of a capsubot with a spring
dc.type
Conference report
