1312 ザリガニの顎脚を模倣した水中化学探査システム(OS3-1 機構の開発とシミュレーション(1))

概要

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A new robotic system that locates an underwater chemical source is proposed. Dispersal of odor molecules is confined in the vicinity of their source under stagnant flow conditions. Therefore, a crayfish creates directed water currents by beating maxillipeds vertically, and draws odor molecules from the surroundings to the chemosensory organs. The proposed system consists of an array of chemical sensors and fanning devices that mimic the maxillipeds. In the experiments, the system was suspended from a set of actuators in a plastic aquarium, and was challenged to detect chemical substances released from the surroundings. Active flow generation by artificial maxillipeds was found effective in drawing chemical samples from a wide angular range. Successful results were obtained on navigating the system to a chemical source using the chemical sensors.
一般社団法人日本機械学会の論文
2006-05-28