Corpus ID: 237513459

Learning Friction Model for Magnet-actuated Tethered Capsule Robot

  title={Learning Friction Model for Magnet-actuated Tethered Capsule Robot},
  author={Yi Wang and Yu-Ta Chutung Tu and Yuchen He and Xutian Deng and Ziwei Lei and Jianwei Zhang and Miao Li},
  • Yi Wang, Y. Tu, +4 authors Miao Li
  • Published 15 September 2021
  • Computer Science, Engineering
  • ArXiv
The potential diagnostic applications of magnetactuated capsules have been greatly increased in recent years. For most of these potential applications, accurate position control of the capsule have been highly demanding. However, the friction between the robot and the environment as well as the drag force from the tether play a significant role during the motion control of the capsule. Moreover, these forces especially the friction force are typically hard to model beforehand. In this paper, we… Expand


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