B14 海洋調査用魚型水中ロボットの研究(OS11 海洋におけるシステムと制御1)

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This paper describes a research of fish type underwater robot for oceanic observation. Recently, biotechnology mechanism application research has been paid much attention in the world, for instance the development of fishes' high swim performances for the robotic development in an underwater field. Most organisms obtain propulsion with the vibration of the fin. Moreover, in the underwater robot, low fluid resistance body is one of the important problems to obtain kinematic performances. In the research, the authors developed a propulsion actuator with the vibration of the fin, and establish a theoretical design method with numerical calculation of low fluid resistance body of the underwater robot. As results of underwater experiments, the fish type underwater robot is found to be applicable to oceanic observation.
2009-09-01