The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2016
Session ID : 1A1-17a1
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Stopping Performance of Manta - like robot controlled by feathering motion
Eiichi INAGAKITakuma ISHIWATARI
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Abstract

In this paper, Manta-like robot is proposed to perform the fin with flapping and feathering motion. In the case of rigid fin controlled by feathering angle, stopping performance is evaluated by time response from the initial swimming velocity for flapping frequency. The swimming velocity increases for the frequency of the flapping motion. After reaching the maximum velocity, the feathering angle is controlled in the decreasing velocity period. The result shows that the feathering angle control for the Manta-like robot is effective to stopping motion in the water.

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© 2016 The Japan Society of Mechanical Engineers
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