1314 ザリガニの嗅覚探索行動を模倣した自律走行型水中ロボット(インテリジェントアクチュエータ,一般講演)

概要

論文の詳細を見る
This paper reports on the development of an autonomous wheeled underwater robot designed to localize chemical sources under stagnant flow conditions. Crayfish in search of food generate water currents using their fan organs, i.e., exopodites of maxillipeds. The generated currents help in collecting odors from the surroundings to their chemosensory organs. The developed robot actively generates water currents by waving small arms that mimic maxillipeds of a crayfish. Experimental results on detecting a chemical substance are presented to show that the flow field generated by the maxilliped arms is effective in chemical reception. The proposed robot can localize a chemical source with a high success rate if the source is placed within the range in which the generated water currents can draw the chemical substance to the sensors.
2008-04-20