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• W2116701368 abstract "In this article, in order to develop endoscopic capsular, a capsular microrobot was designed with polymeric legs. The locomotion of the microrobot is modelled by considering surface forces and the microactuator model. The microrobot is controlled with an adaptive control algorithm. We exerted surface forces containing sliding friction and surface adhesion. Polymeric microactuator is an ionic polymer metal composite. The time-variant response of the polymeric microactuator is modelled based on a set of coupled electromechanical equations and an electric equivalent bulk of polymeric gel. The model reference adaptive control was constituted for precise position control of the microrobot. For the uncertainty parameter, the simulation of the microrobot’s dynamical model was obtained." @default.
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• W2116701368 date "2011-09-07" @default.
• W2116701368 modified "2023-09-26" @default.
• W2116701368 title "Adaptive control of a legged capsular microrobot based on Lyapunov stability criteria" @default.
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• W2116701368 doi "https://doi.org/10.1177/0954406211417940" @default.
• W2116701368 hasPublicationYear "2011" @default.
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