Summary
The vibro-impact capsule robot, which experiences vibrations, frictions, and impacts, is known as a non-smooth dynamical system. It exhibits a rich variety of different long-term behaviours that coexist for a given set of parameters, referred to as multistability or coexisting attractors. When the capsule moves in the gut, a particular attractor may dominate its dynamics, while other coexisting attractors could fade away. This significant change in dynamics poses challenges in locommotion control. In this study, I will introduce how we addressed these challenges through a ‘fantastic voyage’, encompassing mathematical modelling, numerical analysis, control and optimisation, experimental investigation, proof-of-concept validation, and ex vivo testing. Specifically, my study will focus on the non-smooth dynamics of the robot and how to fine-tune its system and control parameters for optimal performance in terms of progression rate and force generation. Numerical and experimental results from our recent studies will be presented to demonstrate its feasibility for lower gastrointestinal examinations. Finally, key challenging issues of the capsule robot are summarised, and new directions for future development are suggested.
