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. 2019 May 20;3(2):026104. doi: 10.1063/1.5090872

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© 2019 Author(s).

2473-2877/2019/3(2)/026104/10

All article content, except where otherwise noted, is licensed under a Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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FIG. 7. — Closed-loop motion control of a helical robot is achieved inside in vitro model. (a) The helical robot swims toward a reference position inside a catheter segment. (b) The estimated position (filtered using 15-point moving average filter) of the helical robot is used in the control law (8). (c) The average position error is 0.74 ± 1.9 mm (n = 10) (see the supplementary material video).