1140 魚の推進メカニズムの解明とアクアロボットの遊泳能力の改善(J04-2 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(2),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

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The velocity distribution of water flow around a real swimming fish has been measured by PIV and analyzed by CFD in order to create new aqua-robots which can swim like a living fish or dolphin. A flexible fish robot with 2 motor-string actuators was created. If the inner part of tail fin was adequately softer than the outside of that, the fish robot was able to swim fast. It has been shown by PIV measurement that this fish robot with a latex rubber tail fin generates the reverse Karman vortex street as a real swimming fish does. In addition, the authors created a swimming humanoid robot which swam like a dolphin. This swimming robot was able to swim in various ways and the operation sequence of servomotors for better swimming was acquired by the particle swarm optimization (PSO).
2007-09-07