1151 自立型固体高分子燃料電池を電力源としたモータ・ストリング駆動魚ロボットの推進性能(J04-1 生物の運動機能/バイオミメティクスとバイオメカニクス/バイオロボティクスとバイオメカトロニクス(1),J04 生物の運動機能/バイオミメティクスとバイオメカニクス/バイオロボティクスとバイオメカトロニクス)

概要

論文の詳細を見る
In order to imitate high-efficiency propulsion by a fish tail under water, the authors made a fish robot, which was assembled from a flexible rubber-sheet body (with a tail) and muscle-like six actuators each of which was composed of a small DC motor and a thin piece of flexible string. Electric power was fed to each motor intermittently in a programmed sequence by a power-supply system composed of a hydrogen-fueled passive-type polymer electrolyte fuel cell and a PWM controller. Using the genetic algorithm (GA), it was possible to find the sequence of six actuators for more speedy swimming or that for more efficient swimming. It has been found that the latter sequence of six actuators, which is obviously different from the former one, can swim the fish robot smoothly with less energy consumption.
社団法人日本機械学会の論文
2005-09-18