Modeling and experiments on a legged microrobot locomoting in a tubular, compliant and slippery environment

This paper presents the concept and preliminary modeling of a legged microrobot locomoting in a tubular, compliant and slippery environment. The application field is the one of endoscopic microcapsules intended to navigate inside the gastrointestinal tract for diagnosis and therapy. After introducing and discussing the issue of autonomous locomotion of endoscopic devices, with reference to worldwide ongoing research in the field, the legged solution is proposed and peculiarities of this approach are described. The importance of simulation means for such a device is discussed and a modeling for this particular kind of locomotion is presented. Experimental results are also described for the definition of biomechanical parameters necessary in the model.