1P1-E28 河川調査に向けた魚型ロボットの開発とその遊泳性能実験

概要

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Emvironmental awareness spreads to the general people nowadays and the water quality of urban rivers are attended. The river is one of important assets and the improvement of the quality is desired. To improve the water quality effectively, it is required to survey the situation of the water quality properly. Underwater robots are one of the effective solutions for the river survey. Although a propeller screw is a popular propulsive method for underwater vehicles, fish's swimming motion is more effective and efficient. Therefore, in this study, we aim to develop a fish-like robot for river survey. In this paper, a prototype of fish robot is developed and the characteristics of the motion control are experimentally investigated. Moreover, the C-shaped fast turning method with parameters is proposed, and the results are shown.
一般社団法人日本機械学会の論文