Motion planning plays a vital role in the field of robotics. This paper discusses the latest
advancements in the research and development of various algorithms and approaches in …

Underactuated robotic systems have become an important research topic aiming at
significant improvement of the behavioural performance and energy efficiency. Adopting …

Algorithms have been designed for robot motion planning with various adaptability to
different problems. However, how to choose the most suitable planner in a scene has …

To reduce potential trauma to the intestine caused by the rigid shell while also optimising its
progression efficiency, an elastomer coating was applied to a self-propelled capsule robot …

Given the anatomy of the small intestine, this paper investigates the dynamics of a vibro-
impact capsule moving on an intestinal substrate with the consideration of a circular fold …

Capsule endoscopy is a minimally invasive gastrointestinal diagnostic procedure. The active
endoscopic capsule enables the physician to steer the device to any desired position and …

Magnetically controlled capsule robots are predominantly used in the diagnosis and
treatment of the human gastrointestinal tract. In this study, based on the permanent magnet …

We present the design and deployment of a capsule endoscope via external electromagnets
for locomotion in large volumes alongside its digital twin implementation based on interval …

The robot controller plays an important role in controlling the robot. The controller mainly
aims to eliminate or suppress the influence of uncertain factors on the control robot …

Robot control is one of the key aspects of robotics research. Models are essential tools in
robotics, such as robot's own body dynamics and kinematics models, actuator/motor models …