METHOD AND DEVICE FOR ACTUATING AND CONTROLLING INERTIAL MOBILE ROBOTS

摘要

The present invention relates to a method and device for actuating and controlling inertial mobile robots meant especially for biomedical inspection applications. The claimed method consists in generating an oscillatory motion corresponding to an ideal pendulum by actuating and controlling some inertial bodies with rectilinear motion, wherein in the desired direction of motion of the mobile robot there take place plastic collisions between the inertial bodies and some channel ends, the latter being integral with the robot body, leading to the inertial displacement of the robot, the plastic collisions being obtained by means of electrically controlled material with damping, such as magneto-rheological materials. The claimed actuation and control device comprises a number of n channels for displacing some inertial bodies (CDB), each channel comprising a stroke end electromagnet (EMG) i=1-n, and a stroke end B electromagnet (EMG) which generates an electromagnetic field controlled by a control system (SCRM), wherebetween an inertial body Bmoves, at the ends of stroke A and B there being provided a damping material (AMRand AMR) whereon there is rigidly mounted a force transducer (TFand TF), a propulsion system (SPR) and an actuation system (SA3D) for rotating the propulsion system (SPR) depending on the signals received from the control system (SCRM), the thus formed assembly being mounted in a body (CRM) where there is rigidly fixed an acceleration transducer (TA) which transmits measuring signals on 3 axes of the acceleration to the control system (SCRM), outside the body (CRM) there being mounted a material (CFV) with variable friction coefficient depending on the direction/sense of displacement.